Control Systems

Lag Compensation

1
Lecture Outline

2
 Lag Compensation
• Lag compensation is used to improve the steady state error
of the system.
• Generally Lag compensators are represented by following
transfer function
𝑇𝑠+1
𝐺𝑐 𝑠 = 𝐾𝑐 𝛽 , (β > 1)
𝛽𝑇𝑠+1
• Or 1
𝑠+
𝑇
𝐺𝑐 𝑠 = 𝐾𝑐 1 , (β > 1)
𝑠+
𝛽𝑇

• Where 𝐾 𝑐is gain of lag compensator.

3
 Lag Compensation

𝑠+10
𝐺𝑐 𝑠 = 3 , (𝛽 = 10)
𝑠+1
Pole-Zero Map Bode Diagram
1 30
25

Magnitude (dB)
20
0.5
15
10

0 5
Phase (deg) 0

-0.5 -30

-1 -60
-2 0 2
-10 -8 -6 -4 -2 0 10 10 10
4
Real Axis Frequency (rad/sec)
 Lag Compensation
• Consider the problem of finding a suitable compensation network
for the case where the system exhibits satisfactory transient-
response characteristics but unsatisfactory steady-state
characteristics.

• Compensation in this case essentially consists of increasing the

open loop gain without appreciably changing the transient-
response characteristics.

• This means that the root locus in the neighborhood of the

dominant closed-loop poles should not be changed appreciably, but
the open-loop gain should be increased as much as needed.

5
 Lag Compensation
• To avoid an appreciable change in the root loci, the angle
contribution of the lag network should be limited to a small
amount, say less than 5°.

• To assure this, we place the pole and zero of the lag network
relatively close together and near the origin of the s plane.

• Then the closed-loop poles of the compensated system will be

shifted only slightly from their original locations. Hence, the
transient-response characteristics will be changed only slightly.

6
 Lag Compensation
• Consider a lag compensator Gc(s), where
1
𝑠+𝑇
𝐺𝑐 𝑠 = 𝐾𝑐 1 , (β > 1)
𝑠+𝛽𝑇

• If we place the zero and pole of the lag compensator very close to
each other, then at s=s1 (where s1 is one of the dominant closed
1 1
loop poles) then the magnitudes 𝑠1 + and 𝑠1 + are almost
𝑇 𝛽𝑇
equal, or
1
𝑠+
𝐺𝑐 (𝑠1 ) = 𝐾𝑐 𝑇 ≅𝐾
1 𝑐
𝑠+
𝛽𝑇
7
 Lag Compensation
• To make the angle contribution of the lag portion of the
compensator small, we require

1
𝑠+
−5° < 𝑎𝑛𝑔𝑙𝑒 𝑇 < 0°
1
𝑠+
𝛽𝑇

• This implies that if gain 𝐾𝑐 of the lag compensator is set equal to 1,

the alteration in the transient-response characteristics will be very
small, despite the fact that the overall gain of the open-loop
transfer function is increased by a factor of 𝛽, where 𝛽>1.

8
 Lag Compensation
• If the pole and zero are placed very close to the origin, then the
value of 𝛽 can be made large.

• A large value of 𝛽 may be used, provided physical realization of the

lag compensator is possible.

• It is noted that the value of T must be large, but its exact value is
not critical.

• However, it should not be too large in order to avoid difficulties in

realizing the phase-lag compensator by physical components.

9
 Lag Compensation
• An increase in the gain means an increase in the static error
constants.

• If the open loop transfer function of the uncompensated system is

G(s), then the static velocity error constant Kv of the uncompensated
system is
𝐾𝑣 = lim 𝑠𝐺(𝑠)
𝑠→0
• Then for the compensated system with the open-loop transfer
function Gc(s)G(s) the static velocity error constant 𝐾𝑣 becomes

𝐾𝑣 = lim 𝑠𝐺𝑐 𝑠 𝐺(𝑠) = 𝐾𝑣 lim𝐺𝑐 𝑠

𝑠→0 𝑠→0

1
𝑠+
𝐾𝑣 = 𝐾𝑣 lim𝐾𝑐 𝑇 =𝐾 𝐾𝛽
1 𝑣 𝑐
𝑠→0
𝑠+
𝛽𝑇 10
 Lag Compensation
• The main negative effect of the lag compensation is that
the compensator zero that will be generated near the
origin creates a closed-loop pole near the origin.

• This closed loop pole and compensator zero will generate a

long tail of small amplitude in the step response, thus
increasing the settling time.

11
 Electronic Lag Compensator
• The configuration of the electronic lag compensator using
operational amplifiers is the same as that for the lead compensator
shown in following figure.

1
𝐸𝑜 (𝑠) 𝑅4 𝐶1 𝑠 + 𝑅1 𝐶1
=
𝐸𝑖 (𝑠) 𝑅3 𝐶2 𝑠 + 1
𝑅2 𝐶2

𝑅4 𝐶1
𝑇 = 𝑅1 𝐶1 𝛽𝑇 = 𝑅2 𝐶2 𝐾𝑐 = 𝑅2 𝐶2 > 𝑅1 𝐶1
𝑅3 𝐶2
12
 Electronic Lag Compensator
• Pole-zero Configuration of Lag
Compensator

𝑅2 𝐶2 > 𝑅1 𝐶1

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 Electrical Lag Compensator
• Following figure lag compensator realized by electrical
network.
𝑅1

𝑅2

𝐸2 (𝑠) 𝑅2 𝐶𝑠 + 1
=
𝐸1 (𝑠) 𝑅1 + 𝑅2 𝐶𝑠 + 1
14
 Electrical Lag Compensator
𝐸2 (𝑠) 𝑅2 𝐶𝑠 + 1
=
𝐸1 (𝑠) 𝑅1 + 𝑅2 𝐶𝑠 + 1

𝑅1 + 𝑅2
𝑇 = 𝑅2 𝐶 𝛽= >1
𝑅2

• Then the transfer function becomes

𝐸2 (𝑠) 𝑇𝑠 + 1
=
𝐸1 (𝑠) 𝛽𝑇𝑠 + 1

15
 Electrical Lag Compensator
𝐸2 (𝑠) 𝑇𝑠 + 1
=
𝐸1 (𝑠) 𝛽𝑇𝑠 + 1

• If an RC circuit is used as a lag compensator, then it is

usually necessary to add an amplifier with an adjustable
gain 𝐾𝑐 𝛽 so that the transfer function of compensator is

𝐸2 (𝑠) 𝑇𝑠 + 1
= 𝐾𝑐 𝛽
𝐸1 (𝑠) 𝛽𝑇𝑠 + 1
1
𝐸2 (𝑠) 𝑠+
= 𝐾𝑐 𝑇
𝐸1 (𝑠) 1
𝑠+
𝛽𝑇 16
Mechanical Lag Compensator (Home Work)

17
 Design Procedure
• The procedure for designing lag compensators by the root-
locus method may be stated as follows.

• We will assume that the uncompensated system meets the

transient-response specifications by simple gain adjustment.

• If this is not the case then we need to design a lag-lead

compensator which we will discuss in next few classes.

18
 Design Procedure
• Step-1

– Draw the root-locus plot for the uncompensated system whose

open-loop transfer function is G(s).

– Based on the transient-response specifications, locate the

dominant closed-loop poles on the root locus.

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 Design Procedure
• Step-2

– Assume the transfer function of the lag compensator to be

given by following equation
1
𝑇𝑠+1 𝑠+
𝑇
𝐺𝑐 𝑠 = 𝐾𝑐 𝛽 =𝐾𝑐 1
𝛽𝑇𝑠+1 𝑠+
𝛽𝑇

– Then the open-loop transfer function of the compensated

system becomes Gc(s)G(s).

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 Design Procedure
• Step-3

– Evaluate the particular static error constant specified in the

problem.

– Determine the amount of increase in the static error constant

necessary to satisfy the specifications.

21
 Design Procedure
• Step-4

– Determine the pole and zero of the lag compensator that

produce the necessary increase in the particular static
error constant without appreciably altering the original
root loci.

– The ratio of the value of gain required in the specifications

and the gain found in the uncompensated system is the
required ratio between the distance of the zero from the
origin and that of the pole from the origin.
22
 Design Procedure
• Step-5

– Draw a new root-locus plot for the compensated system.

– Locate the desired dominant closed-loop poles on the root locus.

– (If the angle contribution of the lag network is very small—that

is, a few degrees—then the original and new root loci are almost
identical.

– Otherwise, there will be a slight discrepancy between them.

– Then locate, on the new root locus, the desired dominant closed-
loop poles based on the transient-response specifications.
23
 Design Procedure
• Step-6

– Adjust gain of the compensator from the magnitude condition so

that the dominant closed-loop poles lie at the desired location.

– 𝐾𝑐 will be approximately 1.

24
 Example-1
• Consider the system shown in following figure.

• The damping ratio of the dominant closed-loop poles is

0.491. The undamped natural frequency of the dominant
closed-loop poles is 0.673 rad/sec. The static velocity error
constant is 0.53 sec–1.
• It is desired to increase the static velocity error constant Kv to
about 5 sec–1 without appreciably changing the location of
the dominant closed-loop poles.
25
 Example-1 (Step-1)
• The dominant closed-loop poles of given system are

s = -0.3307 ± j0.5864

26
 Example-1 (Step-2)
• According to given conditions we need to add following
compensator to fulfill the requirement.

1
𝑇𝑠+1 𝑠+
𝑇
𝐺𝑐 𝑠 = 𝐾𝑐 𝛽 =𝐾𝑐 1
𝛽𝑇𝑠+1 𝑠+
𝛽𝑇

27
 Example-1 (Step-3)
• The static velocity error constant of the plant (𝐾𝑣 ) is

1.06
𝐾𝑣 = lim𝑠𝐺(𝑠) = lim 𝑠 = 0.53𝑠 −1
𝑠→0 𝑠→0 𝑠 𝑠+1 𝑠+2
• The desired static velocity error constant ( 𝐾𝑣 ) of the
compensated system is 5𝑠 −1 .

𝐾𝑣 = lim 𝑠𝐺𝑐 𝑠 𝐺(𝑠) = 𝐾𝑣 lim𝐺𝑐 𝑠

𝑠→0 𝑠→0

1
𝑠+
𝐾𝑣 = 𝐾𝑣 lim𝐾𝑐 𝑇 =𝐾 𝐾𝛽
1 𝑣 𝑐
𝑠→0
𝑠+
𝛽𝑇
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 Example-1 (Step-3)
1
𝑠+
𝐾𝑣 = 𝐾𝑣 lim𝐾𝑐 𝑇 =𝐾 𝐾𝛽
1 𝑣 𝑐
𝑠→0
𝑠+
𝛽𝑇

𝐾𝑣 = 𝐾𝑣 𝐾𝑐 𝛽

5 = 0.53𝛽

𝛽 = 10
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 Example-1 (Step-4)
• Place the pole and zero of the lag compensator

1
𝑠+
𝑇
𝐺𝑐 𝑠 =𝐾𝑐 1
𝑠+
𝛽𝑇
• Since 𝛽 = 10, therefore
1
𝑠+
𝑇
𝐺𝑐 𝑠 =𝐾𝑐 0.1
𝑠+
𝑇

30
 Example-1 (Step-4) Solution-1

• Place the zero and pole of the lag compensator at s=–0.05

and s=–0.005, respectively.

• The transfer function of the lag compensator becomes

𝑠+0.05
𝐺𝑐 𝑠 =𝐾𝑐
𝑠+0.005
• Open loop transfer function is given as
𝑠+0.05 1.06
𝐺𝑐 𝑠 𝐺(𝑠)=𝐾𝑐
𝑠+0.005 𝑠(𝑠+1)(𝑠+2)
𝐾(𝑠+0.05)
𝐺𝑐 𝑠 𝐺(𝑠)=
𝑠(𝑠+0.005)(𝑠+1)(𝑠+2)

𝑤ℎ𝑒𝑟𝑒 𝐾 = 1.06𝐾𝑐 31
 Example-1 (Step-5) Solution-1

• Root locus of uncompensated and compensated systems.

• New Closed Loop poles

are

𝑠 = −0.31 ± 𝑗0.55

32
 Example-1 (Step-5) Solution-1

• Root locus of uncompensated and compensated systems.

33
 Example-1 (Step-6) Solution-1

• The open-loop gain K is determined from the magnitude

condition.
𝐾(𝑠 + 0.05)
=1
𝑠(𝑠 + 0.005)(𝑠 + 1)(𝑠 + 2) 𝑠=−0.31+𝑗0.55

𝐾 = 1.0235
• Then the compensator gain 𝐾𝑐 is determined as

𝐾 = 1.06𝐾𝑐

𝐾
𝐾𝑐 = = 0.9656
1.06
34
 Example-1 (Step-6) Solution-1

• Then the compensator transfer function is given as

𝑠 + 0.05
𝐺𝑐 𝑠 = 0.9656
𝑠 + 0.005

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 Example-1 (Final Design Check) Solution-1

• The compensated system has following open loop transfer

function.
1.0235(𝑠+0.05)
𝐺𝑐 𝑠 𝐺(𝑠)=
𝑠(𝑠+0.005)(𝑠+1)(𝑠+2)

• Static velocity error constant is calculated as

𝐾𝑣 = lim 𝑠𝐺𝑐 𝑠 𝐺(𝑠)
𝑠→0
1.0235 𝑠 + 0.05
𝐾𝑣 = lim 𝑠[ ]
𝑠→0 𝑠 𝑠 + 0.005 𝑠 + 1 𝑠 + 2

1.0235 0.05
𝐾𝑣 = = 5.12𝑠 −1
0.005 1 2
36
 Example-1 (Step-4) Solution-2

• Place the zero and pole of the lag compensator at s=–0.01

and s=–0.001, respectively.

• The transfer function of the lag compensator becomes

𝑠+0.01
𝐺𝑐 𝑠 =𝐾𝑐
𝑠+0.001
• Open loop transfer function is given as
𝑠+0.01 1.06
𝐺𝑐 𝑠 𝐺(𝑠)=𝐾𝑐
𝑠+0.001 𝑠(𝑠+1)(𝑠+2)
𝐾(𝑠+0.01)
𝐺𝑐 𝑠 𝐺(𝑠)=
𝑠(𝑠+0.001)(𝑠+1)(𝑠+2)

𝑤ℎ𝑒𝑟𝑒 𝐾 = 1.06𝐾𝑐 37
 Example-1 (Step-5) Solution-2

• Root locus of uncompensated and compensated systems.

Root Locus
6
• New Closed Loop poles Actual System
are 4 Compensated System

𝑠 = −0.33 ± 𝑗0.55 2
Imaginary Axis

-2

-4

-6
-8 -6 -4 -2 0 2 4
Real Axis 38
 Example-2
• Design a lag compensator for following unity
feedback system such that the static velocity error
constant is 50 sec-1 without appreciably changing the
closed loop poles, which are at 𝑠 = −2 ± 𝑗 6.

39
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