Active Learning

Assignment on
Phase-Lag Compensation
Using
Frequency Response
CSD-2161707
Prepared by:-
Patel Vraj(160410117047)
Patoliya Hardik(160410117048)

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 Lag compensation
The function of the lag compensator is to
increase the phase margin of the system to
yield the desired transient response without
affecting the low-frequency gain and hence it
does not reduce system stability or steady
error constant.

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 Steady-state error constants
The steady error constants are:

position constant K p  lim G ( s ),

s 0

velocity constant K v  lim sG ( s ),

s 0

acceleration constant K a  lim s 2G ( s ),

s 0

The value of the steady-state error decreases as the steady

error constants increases.

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 Visualizing lag compensator

• The transfer function of the lag compensator is

p sz
Gc ( s )  .
z s p
• where z > p.

• The gain of this lag compensator at low frequency is unity

and at high frequency is
p
z 4
 Visualizing lag compensator
• For example, the frequency response of a lag compensator:

s  0. 1
Gc ( s ) 
s  0.01

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 Visualizing lag compensator
In the figure below, the uncompensated system is unstable since the
gain at -180° is greater than 0dB. The lag compensator, while not
changing the low-frequency gain, does reduce the high frequency
gain. The magnitude curve can be shaped to go through 0dB at the
desired phase margin to obtain the desired transient response.

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 Example

Given the following open-loop transfer function of a

position control system,
100
G ( s)  ,
s ( s  1)( s  10)

use Bode diagram to design a lag compensator to

yield a percent overshoot of 9.5%.

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 Solution
• Before solving the problem, let us draw the step response of
the closed-loop system whose open loop transfer function is
given.

The response is
too oscillatory!

What do you
expect about the
value of the
damping ratio
and phase
margin of the
system? 9
 Solution
Using the
command
margin, we draw
the Bode
diagram and find
the phase margin
to be only 1.58°.
Too low value.

This system must

be compensated!

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 Solution
• Now, let us start solving the problem.

• We want to design a lag compensator of the

following transfer function

p sz
Gc ( s )  .
z s p
• First we need to plot the Bode diagram, see next.

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Choose a
point!

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 Solution
• From the previous example, we know that 9.5 %OS
corresponds to a phase margin 60°. So, we should look for
the point at which the phase passes -120°.

• However, as the lag compensator add some extra little

phase lag, we will seek a phase margin of 70°. That is we
look for the point at which the phase passes -110°.

• From the figure, we can locate this point at frequency

0.326 rad/sec at which the gain is 29.3dB.
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 Solution
• At the frequency 0.326 rad/sec, the open loop has a gain
29.3dB.
29.3dB  20log(gain)
29.3
 gain  10 20
 29.17

• Therefore, it is required that the lag compensator, at

frequency 0.326 rad/sec, to have a gain of
p 1

z 29.17
• Arbitrarily, locate the zero of the lag compensator at

0.326
z  0.0326  p  0.0011 14
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 Solution
• Thus, the required lag compensator is

p sz
Gc ( s )  .
z s p
0.0011 s  0.0326
 .
0.0326 s  0.0011
s  0.0326
 0.034
s  0.0011

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Checking the phase margin of the new system

As a check, we
use the
command
margin, to draw
the Bode
diagram again.
Now the phase
margin is 64.6°
which is more
than enough!!

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 Checking the step response of the new system
• It is interesting to plot the step response of the closed loop system after
adding the lag compensator.
• As shown, the response is highly stable which is very good (compared to
the oscillatory response of the original system) although it is sluggish too.

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 THANK YOU
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