Design of Gain Compensator

Lecture 13

Dr Mirza Tariq Hamayun

Transient Response via Gain Adjustment
•The link between phase margin, transient response,
and gain can be discussed via frequency response
methods.
•we can vary the phase margin, by varying the percent
overshoot.
•Looking at Figure 11.1, if we desire a phase margin,
represented by CD, we would have to raise the
magnitude curve by AB. Thus, a simple gain
adjustment can be used to design phase margin and,
hence, percent overshoot.
Figure 11.1
Bode plots showing
gain adjustment for a
desired phase margin

Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright © 2004 by John Wiley & Sons. All rights reserved.
PROBLEM: For the position control system shown in Figure
11.2, find the value of preamplifier gain, K, to yield a 9.5%
overshoot in the transient response for a step input. Use only
frequency response methods.

Figure 11.2
System for
Example 11.1 Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 11.3
Bode magnitude
and phase plots
for Example 11.1

Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright © 2004 by John Wiley & Sons. All rights reserved.
Table 11.1
Characteristics of gain-compensated system of
Example 11.1

Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright © 2004 by John Wiley & Sons. All rights reserved.
Skill Assessment:

Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright © 2004 by John Wiley & Sons. All rights reserved.
Phase Lag Compensator
Design
Lecture 14
Dr Mirza Tariq Hamayun

Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright © 2004 by John Wiley & Sons. All rights reserved.
Visualizing lag compensation:
The function of the lag compensator as seen on Bode diagrams is to
(1) improve the static error constant by increasing only the low-frequency gain
without any resulting instability, and (2) increase the phase margin of the system
to yield the desired transient response. These concepts are illustrated in Figure
11.4.

Figure 11.4
Visualizing lag
compensation
Design Procedure:

Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright © 2004 by John Wiley & Sons. All rights reserved.
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 11.5
Frequency response
plots of a lag
compensator,
Gc(s) = (s + 0.1)/(s + 0.01)

Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright © 2004 by John Wiley & Sons. All rights reserved.
Example 11.2:

Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 11.6
Bode plots for Example 11.2
Skill Assessment:

Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright © 2004 by John Wiley & Sons. All rights reserved.