LINEAR CONTROL

SYSTEMS
Ali Karimpour
Associate Professor
Ferdowsi University of Mashhad
 Lecture 22

Lecture 22

Controller design in the frequency

domain

Topics to be covered include:

 Lag controller design

2
Dr. Ali Karimpour Feb 2013
 Lecture 22

A phase-lag controller

a s  1
G ( s)  Let a  1
 s 1
Bode Diagram
30
50
Magnitude (db)

20
40
Magnitude (dB)

1030

020

20 log10a
 200
9090
Phase (deg)
Phase (deg)

045

a 1 m
sin  m 
a 1
 900
10
10
00
1011
10 1/ 1/ a 10 22
10
10
33
3
Frequency (rad/sec)
Frequency (rad/sec) Dr. Ali Karimpour Feb 2013
 Lecture 22

Design fundamental of a lag controller

Analysis Design

Consider a minimum phase system.

Bode Diagram
60 0

40 20 log a
Magnitude (dB)

20
0
0

-20 1 1
-40  a

-60
-90
How can the lag controller
help us?
Phase (deg)

-135

PM=25°
PM=40° Is it different from a
-180
0 1 2 3
Proportional controller?
10 10 10 10
Frequency (rad/sec)

What is the effect of a lag controller on BW? Speed of system?

4
What is the effect of a lag controller on noise effect? Dr. Ali Karimpour Feb 2013
 0 Lecture 22
20 log a
Design procedure of a phase-lag controller
in the frequency domain 0

1 1
 a
as  1
Step 1: Consider Gc ( s )  k with a  1 as a phase-lag controller.
s  1
as  1
Note: If the plant has another gain k, let Gc ( s) 
s  1
Step 2: Try to fix k according to the performance request, otherwise let k=1
Step 3: Sketch the Bode plot of the system (with the fixed k ) without controller.
Step 4: According to desired PM (GM) choose the new gain crossover
frequency (Phase crossover frequency). (reduce it a little).?
Step 5: Find the required gain by lag controller and derive the parameter
a. Required gain |db 20 log( a)  0  a
Step 6: Put the right corner of new
the controller sufficiently far from
crossover frequency. 1 cross
  
a 10
5
Step 7: Check the designed controller. Dr. Ali Karimpour Feb 2013
 Lecture 22
Example 1: Design a lag controller for the following system such that
the phase margin be 45° and the ramp error constant be 100. Find the
Mp of overall system.

R(s)+ C (s )
k
Gc (s)
- s ( s  25)

as  1
Step 1: Consider Gc ( s )  k with a  1 as a phase-lag controller.
s  1
as  1
Note: If the plant has another gain k, let Gc ( s) 
s  1
as  1
Gc ( s)  a 1
s  1

Step 2: Try to fix k according to the performance request, otherwise let k=1

k
kv  lim sGc ( s)  100 k  2500
s 0 s( s  25)
6
Dr. Ali Karimpour Feb 2013
 Lecture 22
Example 1: Design a lag controller for the following system such that
the phase margin be 45° and the ramp error constant be 100. Find the
Mp of overall system.
R(s)+ C (s )
Step 3: Sketch the Bode plot of the system (with the k
Gc (s)
fixed k ) without controller. - s ( s  25)

2500 100
G( s)   Bode Diagram

s( s  25) s( s / 25  1) 60

40

Step 4: According to desired PM

Magnitude (dB)
20

(GM) choose the new gain 0

crossover frequency (Phase -20

crossover frequency). (reduce it a -40

little). -60
-90
Phase (deg)

croos
new
 25 cross
new
 20 -135

PM=25°

-180
0 1 2 7 3
10 10 10 10
Dr. Ali Karimpour Feb 2013
Frequency (rad/sec)
 Lecture 22
Example 1: Design a lag controller for the following system
such that the phase margin be 45° and the ramp error constant
be 100. Find the Mp of overall system.
R(s)+ C (s )
Step 5: Find the required gain by lag k
Gc (s)
- s ( s  25)
controller and derive the parameter a.

Required gain |db 20 log( a)  0 60

Bode Diagram

40

9  20 log( a)  0
Magnitude (dB)
20
9
9 0

a  10  0.35
20
-20

Step 6: Put the right corner of the -40

controller sufficiently far from -60

-90
crossover frequency.
1 cross
new
Phase (deg)

 2   1.41
a
-135
10
as  1 0.5s  1
Gc ( s )  
s  1 1.41s  1 -180
10
0 1
10
2
10
8
10
3

Dr. Ali Karimpour Feb 2013

Frequency (rad/sec)
 0 Lecture 22
Example 1: Design a lag controller for the following 20 log a

system such that the phase margin be 45° and the ramp 0

error constant be 100. Find the Mp of overall system.

1 1
 a
Step 7: Check the designed controller. R(s)+ k
C (s )
Gc (s)
- s ( s  25)

Gc ( j )G
60
( j ) Bode Diagram

G ( j )
40 a s  1 1.41 0.35s  1
Gc ( s)  
 s 1 1.41s  1
Magnitude (dB)

20

0
1 /   0.71, 1 / a  2
-20

-40 20 log a  9 db
-60
-90
1 / a  1.19
0.354  1
Phase (deg)

-135 sin  m    m  28

0.354  1
PM  45

-180
0 1 2 3
10 10 10 10
Frequency (rad/sec) 9
Dr. Ali Karimpour Feb 2013
 Lecture 22
Example 1: Design a lag controller for the following system
such that the phase margin be 45° and the ramp error constant
be 100. Find the Mp of overall system.

R(s)+ C (s )
Step 7: Check the designed controller. Gc (s)
k
- s ( s  25)

Bode Diagram
100

50
Magnitude (dB)

-50

-100
-90

G ( j )
Gc ( j )G( j )
Phase (deg)

-135

PM  45

-180
10
-2
10
-1
10
0 1
10
2
10 10
3 10
Frequency (rad/sec) Dr. Ali Karimpour Feb 2013
 Lecture 22
Example 1: Design a lag controller for the following system
such that the phase margin be 45° and the ramp error constant
be 100. Find the Mp of overall system.

R(s)+ C (s )
Finding Mp Gc (s)
k
- s ( s  25)
Without controller M p=6 db

Nichols Chart
After applying 80

controller Gc ( j )G( j )
60
G ( j )
40
0 dB
Mp=3 db
Open-Loop Gain (dB)

0.25 dB
0.5 dB
20 1 dB -1 dB
3 dB
6 dB -3 dB
0 -6 dB
-12 dB

-20 -20 dB

-40 -40 dB

-60 dB
-60 11
-360 -315 -270 -225 -180 -135 -90 -45 0
Open-Loop Phase (deg) Dr. Ali Karimpour Feb 2013
 Lecture 22

Example 2: Design a lag controller for the following system such that
the phase margin be 45° and the ramp error constant be 100.

R(s)+ C (s )
k
Gc (s)
- s( s  10)( s  20)

as  1
Step 1: Consider Gc ( s )  k with a  1 as a phase-lag controller.
s  1
as  1
Note: If the plant has another gain k, let Gc ( s) 
s  1
as  1
Gc ( s)  a 1
s  1

Step 2: Try to fix k according to the performance request, otherwise let k=1

k
kv  lim sGc ( s)  100 k  20000
s 0 s( s  10)( s  20)
12
Dr. Ali Karimpour Feb 2013
 Lecture 22

Example 2: Design a lag controller for the following system such that
the phase margin be 45° and the ramp error constant be 100.

R(s)+ C (s )
Step 3: Sketch the Bode plot of the system (with Gc (s)
k
the fixed k ) without controller. - s( s  10)( s  20)

20000 100
G( s)   Bode Diagram
s( s  10)( s  20) s( s / 10  1)( s / 20  1100
)
50

Magnitude (dB)
Step 4: According to desired PM
(GM) choose the new gain 0

crossover frequency (Phase -50

crossover frequency). (reduce it a
little). -100
-90

-135
Phase (deg)

cross
new
 5.5 cross
new
4 -180
PM= -22°
-225

-270
10
-1 0
10 5.5 10
1
10
2 13 10
3

Frequency (rad/sec) Dr. Ali Karimpour Feb 2013

 Lecture 22

Example 2: Design a lag controller for the following system such

that the phase margin be 45° and the ramp error constant be 100.

R(s)+ C (s )
Step 5: Find the required gain by lag Gc (s)
k
controller and derive the parameter a. - s( s  10)( s  20)

Required gain |db 20 log( a)  0 100

Bode Diagram

30  20 log( a)  0
50

Magnitude (dB)
30
30
 0

a  10 20
 0.0316
-50
Step 6: Put the right corner of the
controller sufficiently far from -100
-90
crossover frequency.
-135
1 cross new
Phase (deg)

  0.4   79
a
-180
10
as  1 2.5s  1
-225

Gc ( s )  
s  1 79 s  1 -270
10
-1 0
10 10
1
10
2 14
10
3

Dr. Ali Karimpour Feb 2013

Frequency (rad/sec)
 Lecture 22

Example 2: Design a lag controller for the following system such

that the phase margin be 45° and the ramp error constant be 100.

R(s)+ C (s )
Step 7: Check the designed controller. Gc (s)
k
- s( s  10)( s  20)

Bode Diagram
200

150

100
Magnitude (dB)

50

-50

-100

-150
-90
G ( j )
-135
Phase (deg)

Gc ( j )G( j )
-180

-225
PM  50

-270
10
-4
10
-3
10
-2
10
-1
10
0 1
10
2
10 10
3 15
Dr. Ali Karimpour Feb 2013
Frequency (rad/sec)
 Lecture 22

Example 2: Design a lag controller for the following system such

that the phase margin be 45° and the ramp error constant be 100.

R(s)+ C (s )
Step 7: Check the designed controller. Gc (s)
k
- s( s  10)( s  20)

Nichols Chart
150

100

Gc ( j )G( j )
50
Open-Loop Gain (dB)

G ( j )
0

-50

-100

-150
-270 -225 -180 -135 -90
16
Open-Loop Phase (deg) Dr. Ali Karimpour Feb 2013
 Lecture 22

Example 3: Design a lag controller for the following system such that
the gain margin be 10 db and the ramp error constant be 100.

R(s)+ C (s )
k
Gc (s)
- s( s  10)( s  20)

as  1
Step 1: Consider Gc ( s )  k with a  1 as a phase-lag controller.
s  1
as  1
Note: If the plant has another gain k, let Gc ( s) 
s  1
as  1
Gc ( s)  a 1
s  1

Step 2: Try to fix k according to the performance request, otherwise let k=1

k
kv  lim sGc ( s)  100 k  20000
s 0 s( s  10)( s  20)
17
Dr. Ali Karimpour Feb 2013
 Lecture 22

Example 3: Design a lag controller for the following system such that
the gain margin be 10 db and the ramp error constant be 100.

R(s)+ C (s )
Step 3: Sketch the Bode plot of the system (with Gc (s)
k
the fixed k ) without controller. - s( s  10)( s  20)

20000 100
G( s)   Bode Diagram
s( s  10)( s  20) s( s / 10  1)( s / 20  1100
)
50

Magnitude (dB)
Step 4: According to desired PM
(GM) choose the new gain 0 GM= -11 db
crossover frequency (Phase -50
crossover frequency). (reduce it a
little). -100
-90

-135
Phase (deg)

cross
new
 15 cross
new
 15 -180

-225

-270
10
-1 0
10 10
1
10
2 18 10
3

Frequency (rad/sec) Dr. Ali Karimpour Feb 2013

 Lecture 22

Example 3: Design a lag controller for the following system such that
the gain margin be 10 db and the ramp error constant be 100.

R(s)+ C (s )
Step 5: Find the required gain by lag Gc (s)
k
controller and derive the parameter a. - s( s  10)( s  20)

Required gain |db 20 log( a)  0 100

Bode Diagram

25  20 log( a)  0
50

Magnitude (dB)
15
25 0

a  10  0.056
20
-50
Step 6: Put the right corner of the
controller sufficiently far from -100
-90
crossover frequency.
-135
1 10
Phase (deg)

 1   17.9
a 10
-180

as  1 s 1
-225

Gc ( s )  
s  1 17.9s  1 -270
10
-1 0
10 10
1
10
2 19
10
3

Dr. Ali Karimpour Feb 2013

Frequency (rad/sec)
 0 Lecture 22
20 log a
Example 3: Design a lag controller for the following system such
that the gain margin be 10 db and the ramp error constant be 100. 0

1 1
 a
Step 7: Check the designed controller. R(s)+ C (s )
k
Gc (s)
- s( s  10)( s  20)
Bode Diagram
100
G ( j )
50 a s  1 0.056 17.9 s  1
Gc ( s )  
Magnitude (dB)

 s 1 17.9 s  1
Gc ( j )G( j )
0
GM  10 db
-50
1 /   0.06, 1 / a  1
20 log a  25db
-100
-90

1 / a  0.25
-135
Phase (deg)

0.056  1
-180 sin  m    m  63
0.056  1
-225

-270
-1 0 1 2 3
10 10 10 10 10
Frequency (rad/sec) 20
Dr. Ali Karimpour Feb 2013
 Lecture 22

Example 4: Design a lag controller for the following system such that
the phase margin be 45° and the open loop bandwidth be 10 rad/sec

R(s)+ C (s )
1
Gc (s)
- s2

It is not possible explain why?

21
Dr. Ali Karimpour Feb 2013
 Lecture 22

Exercises

1 Derive the gain margin of the compensated system in

example 1.

2 Derive the phase margin of the compensated system in

example 3.

22
Dr. Ali Karimpour Feb 2013
 Lecture 22

Exercises

3 Following is the open loop transfer function of a system.

a) What is the velocity error constant. (answer 80)
b) Design lag controller such that PM=45°. (answer Gc(s)=(0.5s+1)/(1.56s+1))
c) Design lag controller such that PM=45° and the velocity error constant be 200.
(answer Gc(s)=(0.49s+1)/(3.75s+1))
Bode Diagram
80

60

40
Magnitude (dB)

20

-20

-40

-60
-90
Phase (deg)

-135

-180
-1 0 1 2 3 23
10 10 10 10 10
Frequency (rad/sec)
Dr. Ali Karimpour Feb 2013
 Lecture 22

Exercises

4 Following is the open loop transfer function of a system.

a) Design a controller that the GM of system be 50 db.
b) Design lag controller such that PM=45° and the velocity error constant be 30.
Bode Diagram
50

0
Magnitude (dB)

-50

-100

-150
-90

-135
Phase (deg)

-180

-225

-270
-1 0 1 2 3 24
10 10 10 10 10
Dr. Ali Karimpour Feb 2013
Frequency (rad/sec)