Modern Control Systems (MCS)

Lecture-11
Introduction to Compensation

Dr. Imtiaz Hussain

Assistant Professor
email: imtiaz.hussain@faculty.muet.edu.pk
URL :http://imtiazhussainkalwar.weebly.com/
 Lecture Outline
Introduction to compensation

Compensation via root Locus

Compensator Configurations

Commonly Used Compensators

Effect of Adding Poles and Zeros

on Root locus
 Introduction
A feedback control system that provides an optimum
performance without any necessary adjustment is
rare.

In building a control system, we know that proper

modification of the plant dynamics may be a simple
way to meet the performance specifications.

This, however, may not be possible in many

practical situations because the plant may be fixed
and not modifiable.

Then we must adjust parameters other than those in

the fixed plant.
 Introduction
In previous lectures, we have discussed root
locus method for loop gain adjustment.

We have found that to achieve the desired

system response, it is possible to adjust the
system parameters but it is often not
enough.
 Introduction
It is then required to reconsider the structure
of the system and redesign the system.

The design problems, therefore, become

those of improving system performance by
insertion of a compensator.

Compensator: A compensator is an
additional component or circuit that is
inserted into a control system to equalize or
compensate for a deficient performance.
 Introduction
It is then required to reconsider the structure
of the system and redesign the system.

The design problems, therefore, become

those of improving system performance by
insertion of a compensator.

Compensator: A compensator is an
additional component or circuit that is
inserted into a control system to equalize or
compensate for a deficient performance.
 Introduction
Necessities of compensation
A system may be unsatisfactory in
Stability.
Speed of response.
Steady-state error.
Thus the design of a system is concerned with the
alteration of the frequency response or the root locus
of the system in order to obtain a suitable system
performance.
 Compensation via Root
Performance measures in Locus
the time domain:

Peak time;

Overshoot;

Settling time for a step input;

Steady-state error for test inputs

These performance specifications can be defined in

terms of the desirable location of the poles and zeros of
the closed-loop.
Root locus method can be used to find a suitable
compensator Gc(s) so that the resultant root locus results
in the desired closed-loop root configuration.
 Compensation via Root
Locus
The design by the root-locus method is based on
reshaping the root locus of the system by adding
poles and zeros to the systems open-loop transfer
function and forcing the root loci to pass through
desired closed-loop poles in the s plane.

The characteristic of the root-locus design is its

being based on the assumption that the closed-loop
system has a pair of dominant closed-loop poles.

This means that the effects of zeros and additional

poles do not affect the response characteristics very
much.
 Compensator Configurations
Compensation schemes commonly used for
feedback control systems are:

Series Compensation

Parallel Compensation
 Compensator Configurations
The choice between series compensation and
parallel compensation depends on
the nature of the signals

the power levels at various points

available components

the designers experience

economic considerations and so on.

 Commonly Used
Compensators
Among the many kinds of
compensators, widely employed
compensators are the
lead compensators

lag compensators

laglead compensators
 Commonly Used
Compensators
Among the many kinds of
compensators, widely employed
compensators are the
lead compensators
If a sinusoidal input is applied to the input of
a network, and the steady-state output
(which is also sinusoidal) has a phase lead,
then the network is called a lead network.
 Commonly Used
Compensators
Among the many kinds of
compensators, widely employed
compensators are the
lag compensators
If the steady-state output has a phase lag,
then the network is called a lag network.
 Commonly Used
Compensators
Among the many kinds of compensators,
widely employed compensators are the
laglead compensators
In a laglead network, both phase lag and
phase lead occur in the output but in different
frequency regions.

Phase lag occurs in the low-frequency region

and phase lead occurs in the high-frequency
region.
 Commonly Used
Compensators
We will limit our discussions mostly to
lead, lag, and laglead compensators
realized by
Electronic devices such as circuits using
operational amplifiers
Electrical Networks (RC networks)

Mechanical Networks (Spring-Mass-Damper

Networks).
 Effect of Addition of Poles on Root
Locus
The addition of a pole to the open-loop transfer
function has the effect of pulling the root locus to the
right, tending to lower the systems relative stability
and to slow down the settling of the response.
 Effect of Addition of poles

K K
G(S ) Add a Pole at G(S )
S -1 S ( S 1)

Root Locus Root Locus

0.06 0.5

0.4

0.04
0.3

0.2
0.02
0.1

Imag Axis
0 0

-0.1
-0.02
-0.2

-0.3
-0.04

-0.4

-0.06
-0.5
-1.2 -1 -0.8 -0.6 -0.4 -0.2 0 -1 -0.9 -0.8 -0.7 -0.6 -0.5 -0.4 -0.3 -0.2 -0.1 0
Real Axis Real Axis
 Effect of Addition of poles

K
G(S )
S ( S 1)( S 2)
Root Locus

1
Imag Axis

-1

-2

-3

-4

-6 -5 -4 -3 -2 -1 0 1
Real Axis
 Effect of Addition of Zeros on Root
Locus
The addition of a zero to the open-loop transfer
function has the effect of pulling the root locus to the
left, tending to make the system more stable and to
speed up the settling of the response.

Physically, the addition of a zero in the feed forward

transfer function means the addition of derivative
control to the system.

The effect of such control is to introduce a degree of

anticipation into the system and speed up the
transient response.
 Effect of Addition of zeros

K K ( S 3)
G(S ) G(S )
S ( S 1) Add a zero at
S ( S 1)
-3

Root Locus
0.8 Root Locus
0.84 0.72 0.58 0.44 0.3 0.14 2.5

0.6
2
0.92
0.4 1.5

1
0.98
0.2
Imaginary Axis

0.5

Imag Axis
1.2 1 0.8 0.6 0.4 0.2
0 0

-0.2 -0.5
0.98
-1
-0.4
0.92 -1.5

-0.6 -2

0.84 0.72 0.58 0.44 0.3 0.14

-2.5
-0.8
-1.2 -1 -0.8 -0.6 -0.4 -0.2 0 0.2 -9 -8 -7 -6 -5 -4 -3 -2 -1 0
Real Axis
Real Axis
 Effect of Addition of zeros

K K ( S 3)
G(S ) Add a zero at G(S )
S ( S 1)( S 2) S ( S 1)( S 2)
-3

Root Locus
Root Locus
4
8
3
6
2
4
1
2
Imag Axis

Imag Axis
0
0
-1
-2

-2
-4

-3
-6

-4
-8

-6 -5 -4 -3 -2 -1 0 1
-3 -2.5 -2 -1.5 -1 -0.5 0
Real Axis Real Axis

Continued..
To download this lecture visit
http://imtiazhussainkalwar.weebly.com/

END OF LECTURES-11