American International University- Bangladesh (AIUB)

Faculty of Engineering

Course Name: Modern Control System Lab Course Code: EEE4102

Semester: Spring, 2019-20 Sec: C

Faculty: Md. Abid Hasan

Experiment Design of a lag and lead compensator via Root Locus Report 10
Name: No:

Group Members: Student ID Student Name Dept

1. 17-35407-3 Nobonita Sen EEE
2. 17-35297-2 Sadia afrin sara EEE
3. 17-35956-3 Abedin Zahid EEE
4. 16-31956-2 Faiazur Rahman EEE
5. 17-35470-3 Sarkar, Shubhashis EEE

Title: Design of a lag and lead compensator via Root Locus

Abstract: A good control system operate with as little error as possible; performance is not affected
by small changes in certain parameters and have very small steady state error. In order to maintain
all of this some adjustment is required in control system, which is compensation. The main object
of this experiment is to design a lead and a lag compensator via Root Locus. Lead compensator
provides phase lead at high frequencies and lag compensator provides phase lag at low frequencies
which reduces steady state error.

Theory and Methodology:

Lag Compensator:

Objective: Improve or reduce the steady state error.

Design Process: 𝐾𝑃𝑁(𝑁𝑒𝑤 𝑜𝑟 𝑑𝑒𝑠𝑖𝑟𝑒𝑑 𝐾𝑝) / 𝐾𝑃𝑜(𝑂𝑙𝑑 𝑜𝑟 𝑝𝑟𝑒𝑣𝑖𝑜𝑢𝑠 𝐾𝑝)=(𝑍𝐶) / (𝑃𝐶)

Now, arbitrarily selecting a −𝑃𝐶 and then calculate −𝑍𝐶

Lead Compensator:
Objective: 1. Improve transient response

2. Zero at −𝑍𝐶 and pole at −𝑃𝐶 are selected to put design point on the root locus.

Design Process:

(a) ξ (zeta) is given, find dominant pole (old) from the root locus of uncompensated system,
𝑆𝑑𝑜𝑙𝑑=−ξ𝜔𝑛+𝑗𝜔𝑛√1−ξ2 𝑆𝑑𝑜𝑙𝑑 = −𝜎𝑑+𝑗𝜔𝑑

(b) Now find old settling time, 𝑇𝑆𝑜𝑙𝑑=4 / ξ𝜔𝑛 = 4 / 𝜎𝑑

Experimental Procedure:

Problem Statement 1:
MATLAB:
%%Problem Statement 1: Lag compensator Design
%%Root Locus for Uncompensated system%%
Gu=zpk([],[-1 -2 -10],1);
figure(1)
rlocus(Gu)
grid off
sgrid(0.174,0)
title('Root Locus for Un-compensated system')
%%Root Locus for lag Compensated system%%
Gc=zpk([-0.111],[-0.01],1);
Gce=Gu*Gc;
figure(2)
rlocus(Gce)
grid off
sgrid(0.174,0)
title('Root Locus for Compensated system')
% Lag compensator Output Response
Gu=zpk([],[-1 -2 -10],164.6);
Gc=zpk([-0.111],[-0.01],1);
Gce=Gu*Gc;
Tu=feedback(Gu,1,-1);
Tc=feedback(Gce,1,-1);
figure(3)
step(Tu,'-r')
hold on
step(Tc,'b')
legend('Uncompensated response','Compensated response')
Fig: Root Locus for Lead Un-compensated system

Fig: Root Locus for Lag Compensated system

 Fig: Step Response

Problem Statement 2:
MATLAB:
%%MATLAB code :
%% Problem Statement 2: Lead compensator Design
%% Root Locus for Uncompensated system%%
Gu=zpk([],[0 -4 -6],1);
figure(1)
rlocus(Gu)
grid off
sgrid(0.358,0)
title('Root Locus for Un-compensated system')
%%Root Locus for lead Compensated system%%
Gc=zpk([-5],[-42.96],1);
Gce=Gu*Gc;
figure(2)
rlocus(Gce)
grid off
sgrid(0.358,0)
title('Root Locus for lead Compensated system')
Gu=zpk([],[0 -4 -6] , 63.21)
Gc=zpk([-5],[-42.96],22.51) %gain=22.51 as 63.21*22.51=1423
Gce=Gu*Gc; %which is K of dom. pole compensating system
Tu=feedback(Gu,1,-1);
Tc=feedback(Gce,1,-1);
figure(3)
step(Tu,'-r')
hold on
step(Tc,'b')
legend('Uncompensated response' , 'Compensated response')

Fig: Root Locus for Lead Un-compensated system

Fig: Root Locus for Lead compensated system

 Fig: Root Locus for Step response

Questions and Answers:

MATLAB:
Gu=zpk([],[0 -2 -7],1);
figure(1)
rlocus(Gu)
grid off
sgrid(0.516,0)
title('Root Locus for Un-compensated system')
%%Root Locus for lag Compensated system%%
Gc=zpk([-0.22],[-0.01],1);
Gce=Gu*Gc;
figure(2)
rlocus(Gce)
grid off
sgrid(0.516,0)
title('Root Locus for Compensated system')
% Lag compensator Output Response
Gu=zpk([],[0 -2 -7] ,146.6);
Gc=zpk([-0.22],[-0.01],1);
Gce=Gu*Gc;
Tu=feedback(Gu,1,-1);
Tc=feedback(Gce,1,-1);
figure(3)
step(Tu,'-r')
hold on
step(Tc,'b')
legend('Uncompensated response','Compensated response')

Fig: Root Locus for Un-compensated system

Fig: Root Locus for Lead compensated system

Fig: Root Locus for Step response
Discussions: In this experiment, we design a lag and lead compensator via Root Locus. The main
objective of this experiment is designing a lag compensator to reduce steady state error. And also
improve the transient response lead compensator is designed. In problem 1, from a given transfer
function G(s) with a negative feedback system lag compensator was designed and improve the
steady state error by a given factor, where the damping ratio was also given. We saw that the little
bit change in the transfer function. In a compensated system, the steady state error was evaluated
for a unit step input. In problem 2, a lead compensator was designed for a unity negative feedback
transfer system. Compensating pole location was found out also. The lead compensator was
designed to reduce settling time by a factor of 2 with maintaining the given 30% overshoot.
Reference(s):

[1] Norman S. Nise, “Control Systems Engineering”, available Edition, John Wiley & Sons Inc.
[2] Control System Laboratory Manual, American International University-Bangladesh (AIUB),
2013