Purpose:

• If the system is unstable then required a

compensator (or) controller to make it stable
& achieve desired performance.

• If the system is stable then also required a

compensator or controller to achieve the
required or desired performance.
Compensators:
• A compensator is a electrical network which
adds the finite poles & finite zeros. So that
the system performance is changed according
to the requirement.

• There are 3 types of compensator

– Lead compensator
– Lag compensator
– Lag – Lead compensator
Another classification of Compensator

Series Feedback
Compensation Compensation
Lead Compensator:

❖ Zero is nearer to Imaginary Axis .

Transfer function realization with RC Network:

But Gc(s) is
• By comparing we get,
Under steady state condition the output of the network leads the
input hence it is called Lead network.
For Maximum Phase angle
At W=Wm;
 Effects of lead compensators:
Advantages:
• The lead compensator is a high pass filter hence the bandwidth of the system
increases.
• As bandwidth increases the rise time decreases. Hence the transient
performance is improved.
• The lead compensator improves the damping of the system hence settling time
decreases.
• The lead compensator improves the phase margin and gain margin hence
relative stability is improved.
• The lead compensator is similar to PD-controller.
Disadvantages:
• The lead compensator is a high pass filter hence the noise is enter into the
system. So the signal to noise ratio at the output is poor.
• In lead compensator we required to add an amplifier which adds cost and
space.
• The maximum phase lead given by the lead compensator is 600 if required
more than 600 then we required to use multi section compensators.
Design steps of Lead compensator:
Lag Compensator:

❖ Pole is nearer to Imaginary Axis .

Transfer function realization with RC Network:
• Under steady state condition the output of the
network lags the input hence it is called Lag
network.
• The Maximum phase lag and frequency at
which occurs are obtained same way as Lead
network by replacing α with β.
Effects of Lag Compensators:
Advantages:
• The lag compensator is a low pass filter hence the noise
is filtered out. So the signal to noise ratio at the output
is improved.
• The lag compensator improves the steady state
behaviour.
• The lag compensator similar to PI-controller.
Disadvantages:
• The lag compensator is a low pass filter hence the
bandwidth of the system is decreased.
• As bandwidth decreases the rise time increases.
• Relative stability may be effected.
• With lag compensator the system becomes very
sensitive with parameter variation.
Design steps of Lag compensator:
Ex: Find maximum phase of the compensator Gc(s)=(1+2S)/(1+4S).
Sol: Pole at S= -1/4 and zero at S=-1/2.
As pole is nearer to Imaginary Axis it is lag compensator.

there fore

By comparing τ=2 and βτ =4 and therefore β=2.

Now Maximum Phase lag is -->sin(φm)=(β -1)/(β +1)=0.666
And φm=41.81°
Lag-Lead Compensator:

❖ Pole is nearer to Imaginary Axis, that

is Lag is nearer to Imaginary Axis
Transfer function realization with RC Network:
Effects of Lag- Lead Compensator:
•It improves Transient behavior and bandwidth
•It improves Steady state behavior and signal to noise ratio
 CONTROLLERS:
• A controller is a device which is used to change the transient
and steady state performance as per the requirement.
• The best system is the one it should have lowest rise time,
smallest settling time, smallest steady state error, smallest
peak over shoot to get above requirement to use the
controller.

Types of Controllers:
• Proportional Controller:
• Integral Controller
• Derivative Controller
• Proportional plus Integral Controller
• Proportional and Derivative Controller
• PID Controller
PROPORTIONAL CONTROLLER
Purpose : To change the transient response as per
the requirement
Disadvantage:
• The p-controller can’t eliminate the complete
error in the system.
• As the Kp value increases the damping ratio ‘ξ’
decreases, hence % peak over shoot increases so
the system becomes more oscillatory and less
relatively stable
INTEGRAL CONTROLLER
Purpose : To decrease the steady state error
• The I-controller added one pole at origin which
increases the type of the system. As type
increases steady state error decreases but the
system stability is effected.
• Before using the integral controller we require to
check the system stability. If the stability is
effected then the I-controllers are not used.
DERIVATIVE CONTROLLER
Purpose : To improve the stability and transient response
• The Transfer Function of derivative controller is KD.S
• The best example for D-controller is tachometer.
• The D-controller added one zero at origin hence the
type of the system decreases.
• As type decreases the stability improved but the steady
state error increases so the system becomes less
accurate.
PROPORTIONAL PLUS INTEGRAL CONTROLLER
Purpose : To decrease the steady state error
without effecting stability and transient response
• The Transfer Function of PI-Controller is Kp+Ki/S
• The PI-controller added one pole at origin hence
the type of the system increases. As type
increases steady state error decreases.
• The PI-controller added one finite zero in the left
hand side, which avoids the effect on system
stability due to the addition of pole at origin.
PROPORTIONAL PLUS DERIVATIVE CONTROLLER
Purpose : To improve the stability and transient
response without effecting steady state errors
• The Transfer Function of PD-controller is (Kp +
KDS)
• The PD-controller added one finite zero in the left
hand side which improves the system stability.
• The PD-controller does not change the type
hence no effect on steady state error.
PID CONTROLLER
Purpose : To improve the stability and transient
response and decreases the steady state error.
• The PID – controller added one pole at origin,
hence the type of the system increases. As type
increases steady state error decreases.
• The PID controller added two finite zeros, in the
left hand side, one finite zero, avoid the effect on
stability. And another zero improves the stability.
• Tuning of PID controller is very difficult.
• One of the best methods of PID tuning is Ziegler–
Nichols method.
• In this method, the KI and KD gains are first set to
zero. The proportional gain is increased until it
reaches the ultimate gain, KU at which the output of
the loop starts to oscillate.
• KU and the oscillation period TU are used to set the
gains as shown: