Phase Lead Compensator Design Project

Mauricio Oñoro
Introduction
Phase lead compensation is an important and reliable method for classical control
systems. Single phase lead compensators consist of a single stable real-axis zero to the right
of a single stable real-axis pole. A phase-lead compensator is used to increase the phase
margin and stability of a system. This is designed using the root-locus method assuming
unity feedback. The purpose of this project is to introduce students to control system
design. The following report will include all the calculations, MATLAB simulations and
design put into the phase lead compensator.

Theory
The circuit to be controlled is a four-amplifier circuit with two RC Networks in
between amplifiers. This circuit is built to simulate the process to be controlled. The circuit
includes an inverter, integrator, RC network, and a voltage follower. Figure 1 displays the
circuit.

Figure 1 Circuit to be Controlled

Note how an RC network is followed by a voltage follower. The inverter is used to
get a positive transfer function. The integrator produces an output voltage which is
proportional to the integral of the input voltage. The RC network filters the signals by
blocking some frequencies and allowing others to pass through it. The voltage follower
strengthens a signal and allows a high-impedance source to drive a low-impedance load.
V o ( s)
G(s) =
V i1 ( s)

The following specifications are given: Settling time: Ts (5%)  (< but ) 0.15s

Percentage overshoot: P.O.  (< but )10%. The following Figure shows a preliminary

circuit for the phase lead.

Figure 2 Preliminary Circuit
Modeling Process
The first thing to be calculated is the overall transfer function for the circuit on
Figure 1. Equation one is used to calculate the transfer function of each component of the
circuit. The overall transfer function is calculated by multiplying all the individual transfer
functions.

V o ( s) −R12
The inverter calculation goes as following: T 1( s)= ( )
V 1 ( s)
=
R11

10 kΩ
¿− =−1
10 kΩ

1
−
Integrator calculation: sC −1 1
T 2( s)= = × =¿
R RC s

−1 1 −96.712
¿ × =
( 4.7 kΩ)(2.2 μF) s s

1 1 1
RC RC RC 1
First Voltage Follower calculation: T 3 (s)= = + = +1
1 s 1 RC ( s)
s+
RC RC

1 1 45.454
T 3 ( s) = = =
( 10 kΩ ) ( 2.2 μF )( s )+1 0.022 s +1 s+ 45.454

Second Voltage Follower:

 1 1 1
RC RC RC 1
T 4 ( s )= = + = +1
1 s 1 RC ( s )
s+
RC RC

1 1 137.74
T 4 ( s )= = =
( 3.3 kΩ )( 2.2 μF ) ( s ) +1 0.00726 s+1 s+137.74

Equation 1 is used, and all the previous transfer functions are multiplied to obtain

the overall transfer function.

V o ( s)
G(s) = T 1 ( s ) ×T 2 ( s ) ×T 3 ( s ) ×T 4 ( s )
V i1 ( s) = T(s) =

96.712 45.454 137.75 605541.733

= (−1)×− × × =
s s+ 45.454 s+ 137.75 s ( s+ 45.454 ) (s+ 137.75)

605541.733
G(s) =
s + 183.204 s 2+ 6261.288 s
3

MATLAB Simulation for Uncompensated Circuit

Using MATLAB, a graph with insight about the circuit is generated. The graph
displays the percent overshoot and settling time. The following Figures show the results of
the simulation.

Figure 3 Simulation Code

Figure 4 MATLAB Results
As seen on the previous Figure, the percentage overshoot for this system is 61.8%
while the settling time is 0.488. The requirements for this project are to have a settling time
of 0.5 seconds and a percentage overshoot of 10%. The following sections of this report
will describe the implementation of the phase-lead to compensate the system.
Controller Implementation
Using the root-locus method and assuming unity feedback, the following
calculations are made to determine all the values needed for the controller. The last lecture
was a vital part of understanding how these values work and how they change. After many
iterations, the poles came up to be 25.92 and 55.878.
Figure 5 Detailed Calculations
As seen on the calculations, Kc is less than one so an inverting amplifier must be used. The
voltage follower eliminates the loading effect to the compensator and the inverter makes
the gain positive.
The Figure below shows the circuit used for the phase lead controller.

Figure 6 Compensating Circuit

As seen on the calculations, the settling time and percentage overshoot fall on the range
given by the requirements. Matlab is used to confirm the accuracy of the unit feedback
response of the system. The first Figure shows the Matlab results before choosing the
resistor values and the second one is after resistors were chosen

Figure 7 Response Before Resistors

Figure 8 Response After Resistors
The values for R1, R2, R3, and R4 are 7.5KΩ, 9.1 KΩ, 33KΩ, 39KΩ, respectively.

Conclusion
This project introduced the students to the design of standard components. The
lectures about the design method were interesting, insightful, and helpful towards this
project. The most challenging part of the project is to have a good understanding of how the
values work so picking resistor values is easier.