1

Compensator Design to Improve Transient

Performance Using Root Locus

Prof. Guy Beale

Electrical and Computer Engineering Department
George Mason University
Fairfax, Virginia

Correspondence concerning this paper should be sent to Prof. Guy Beale, MSN 1G5, Electrical and Computer Engineering
Department, George Mason University, 4400 University Drive, Fairfax, VA 22030-4444, USA. Fax: 703-993-1601. Email:
gbeale@gmu.edu
 2

Contents

IINTRODUCTION 4

II DESIGN PROCEDURE 4
A. CompensatorStructure .................................... 4
B. OutlineoftheProcedure ................................... 6
C. System Type N ........................................ 7
D. SelectingaDominantClosed-LoopPoleLocation...................... 8
E. DeterminingtheCompensator’sParameters......................... 11
1. Plant Phase Shift at s ..................................
1
12
2. Compensator Phase Shift at s 1 ............................. 12
3. PlacingtheCompensatorZero.............................. 14
4. PlacingtheCompensatorPole.............................. 16
5. DeterminingtheCompensatorGain........................... 17
6. CompensatorPhaseShiftRevisited........................... 19
7. SimultaneousPlacementofCompensatorPoleandZero ............... 21
8. Multi-StageCompensation................................ 23

III Design Example 25

A. PhaseLeadExample...................................... 25
1. Given System and Specifi cations ............................ 25
2. SelectionoftheDominantClosed-LoopPole...................... 26
3. DesigningtheCompensator ............................... 27
B. PhaseLagExample ...................................... 29
1. Given System and Specifi cations ............................ 29
2. SelectionoftheDominantClosed-LoopPole...................... 30
3. DesigningtheCompensator ............................... 30

References 35

List of Figures
1 Allowable region for s1 in order to satisfy specifi cations on overshoot, settling time, and
frequencyofoscillation. ..................................... 10
2 Calculating the phase shift of G(s) at the chosen point s = s .1............... 13