Q.

The open-loop transfer function is given by

It is desired to compensate the system so that the static velocity error constant Kv is 5 sec–1, the
phase margin is at least 40°.

Ans:

We shall use a lag compensator of the form:

Let,

First, we find K to ensure Kv is 5 sec–1

Therefore, K=5

Now we make a bode plot for the gain adjusted but uncompensated system G1(jw)
From this plot, it can be observed that the phase margin is found to be –13°. But we require a phase margin of 40°.

Noting that the addition of a lag compensator modifies the phase curve of the Bode diagram, we must allow 5° to 12° to the
specified phase margin to compensate for the modification of the phase curve. Hence, we add about 12° to the given phase
margin as an allowance to account for the lag angle introduced by the lag compensator. The required phase margin is now
52°.The phase angle of the uncompensated open-loop transfer function is –128° at about v=0.5 rad/sec. So, we choose the
new gain crossover frequency to be 0.5 rad/sec. To bring the magnitude curve down to 0 dB at this new gain crossover
frequency, the lag compensator must give the necessary attenuation, which in this case is –20 dB. Hence,

To avoid overly large time constants for the lag compensator, we shall choose the corner frequency v=1/T(which
corresponds to the zero of the lag compensator) to be 0.1 rad/sec. The other corner frequency v=1(bT), which corresponds to
the pole of the lag compensator, is then determined as

The phase margin of the compensated system is about 40°, which is the required value. The static velocity error constant is 5
sec–1, as required. The compensated system, therefore, satisfies the requirements on both the steady state and the relative
stability.