Control Systems (CS)

Lecture-4-5-6
Lag Compensation &
Lag-Lead Compensation
Dr. Imtiaz Hussain
Associate Professor
Mehran University of Engineering & Technology Jamshoro, Pakistan
email: imtiaz.hussain@faculty.muet.edu.pk
URL :http://imtiazhussainkalwar.weebly.com/

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 Lag Compensation
•• Lag
  compensation is used to improve the steady state error
of the system.
• Generally Lag compensators are represented by following
transfer function
 
, ()
• Or  
, ()

• Where is gain of lag compensator.

2
 Lag Compensation

 
, ()

Pole-Zero Map Bode Diagram

1 30
25

Magnitude (dB)
20
0.5
15
Imaginary Axis

10
0 5
0
Phase (deg)

-0.5
-30

-1 -60
-10 -8 -6 -4 -2 0 10
-2
10
0 2
10
Real Axis Frequency (rad/sec) 3
 Lag Compensation
• Consider the problem of finding a suitable compensation network
for the case where the system exhibits satisfactory transient-
response characteristics but unsatisfactory steady-state
characteristics.

• Compensation in this case essentially consists of increasing the

open loop gain without appreciably changing the transient-
response characteristics.

• This means that the root locus in the neighborhood of the

dominant closed-loop poles should not be changed appreciably, but
the open-loop gain should be increased as much as needed.

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 Lag Compensation
• To avoid an appreciable change in the root loci, the angle
contribution of the lag network should be limited to a small
amount, say less than 5°.

• To assure this, we place the pole and zero of the lag network
relatively close together and near the origin of the s plane.

• Then the closed-loop poles of the compensated system will be

shifted only slightly from their original locations. Hence, the
transient-response characteristics will be changed only slightly.

5
 Lag Compensation
•• Consider
  a lag compensator Gc(s), where
 
, ()

• If we place the zero and pole of the lag compensator very close to
each other, then at s=s1 (where s1is one of the dominant closed
loop poles then the magnitudes and are almost equal, or

  1

| ^
|𝐺 𝑐 ( 𝑠1 )|= 𝐾 𝑐
𝑠+

𝑠+
𝑇
1
𝛽𝑇
|^𝑐
≅𝐾

6
 Lag Compensation
•• To
  make the angle contribution of the lag portion of the
compensator small, we require

  1
𝑠+
°
− 5 < 𝑎𝑛𝑔𝑙𝑒
𝑠+ ( )
𝑇
1
𝛽𝑇
<0
°

• This implies that if gain of the lag compensator is set equal to 1,

the alteration in the transient-response characteristics will be very
small, despite the fact that the overall gain of the open-loop
transfer function is increased by a factor of , where >1.

7
 Lag Compensation
•• If
  the pole and zero are placed very close to the origin, then the
value of can be made large.

• A large value of may be used, provided physical realization of the

lag compensator is possible.

• It is noted that the value of T must be large, but its exact value is
not critical.

• However, it should not be too large in order to avoid difficulties in

realizing the phase-lag compensator by physical components.

8
 Lag Compensation
•• An
  increase in the gain means an increase in the static error
constants.
• If the open loop transfer function of the uncompensated system is
G(s), then the static velocity error constant Kv of the uncompensated
system is
 𝐾 =lim 𝑠𝐺 ( 𝑠)
𝑣
𝑠→0
• Then for the compensated system with the open-loop transfer
function Gc(s)G(s) the static velocity error constant becomes

𝐾
 ^
𝑣 =lim 𝑠 𝐺𝑐 ( 𝑠 ) 𝐺( 𝑠)= 𝐾 𝑣 lim 𝐺𝑐 ( 𝑠 )
𝑠→0 𝑠→0

  1
𝑠+
^ ^ 𝑇 ^𝑐 𝛽
𝐾 𝑣 =𝐾 𝑣 lim 𝐾 𝑐 =𝐾 𝑣 𝐾
𝑠→ 0 1
𝑠+
𝛽𝑇 9
 Lag Compensation
• The main negative effect of the lag compensation is that
the compensator zero that will be generated near the
origin creates a closed-loop pole near the origin.

• This closed loop pole and compensator zero will generate a

long tail of small amplitude in the step response, thus
increasing the settling time.

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 Electronic Lag Compensator
• The configuration of the electronic lag compensator using
operational amplifiers is the same as that for the lead compensator
shown in following figure.

  1
𝑠+
𝐸 𝑜 ( 𝑠) 𝑅 4 𝐶 1 𝑅1 𝐶 1
=
𝐸𝑖 (𝑠 ) 𝑅3 𝐶2 1
𝑠+
𝑅2 𝐶 2

  𝑅 4 𝐶1
𝑇
  =𝑅1 𝐶 1  𝛽 𝑇 =𝑅 2 𝐶 2 𝐾 𝑐=  𝑅2 𝐶 2 > 𝑅 1 𝐶 1
𝑅 3 𝐶2
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 Electronic Lag Compensator
• Pole-zero Configuration of Lag
Compensator

𝑅2 𝐶 2 > 𝑅 1 𝐶 1
 

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 Electrical Lag Compensator
• Following figure lag compensator realized by electrical
network.
 𝑅
1

 𝑅2

𝐶
 

 𝐸 (𝑠) 𝑅2 𝐶 𝑠+1
2
=
𝐸 1 (𝑠) ( 𝑅 1+ 𝑅 2 ) 𝐶 𝑠 +1
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 Electrical Lag Compensator
 𝐸 (𝑠) 𝑅2 𝐶 𝑠+1
2
=
𝐸 1 (𝑠) ( 𝑅 1+ 𝑅 2 ) 𝐶 𝑠 +1

  𝑅1 + 𝑅 2
𝑇 =𝑅2 𝐶
 
𝛽= >1
𝑅2
• Then the transfer function becomes
  𝐸 2 (𝑠) 𝑇𝑠 +1
=
𝐸 1 (𝑠) 𝛽 𝑇 𝑠 +1

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 Electrical Lag Compensator
  𝐸 2 (𝑠) 𝑇𝑠 +1
=
𝐸 1 (𝑠) 𝛽 𝑇 𝑠 +1
•  
• If an RC circuit is used as a lag compensator, then it is
usually necessary to add an amplifier with an adjustable
gain so that the transfer function of compensator is
 𝐸 (𝑠) 𝑇𝑠 +1
2
= 𝐾𝑐 𝛽
^
𝐸 1 (𝑠) 𝛽 𝑇 𝑠+1
  1
𝑠+
𝐸 2 (𝑠) 𝑇
=^
𝐾𝑐
𝐸 1 (𝑠) 1
𝑠+
𝛽𝑇
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Mechanical Lag Compensator (Home Work)

16
 Design Procedure
• The procedure for designing lag compensators by the root-
locus method may be stated as follows.

• We will assume that the uncompensated system meets the

transient-response specifications by simple gain adjustment.

• If this is not the case then we need to design a lag-lead

compensator which we will discuss in next few classes.

17
 Design Procedure
• Step-1

– Draw the root-locus plot for the uncompensated system whose

open-loop transfer function is G(s).

– Based on the transient-response specifications, locate the

dominant closed-loop poles on the root locus.

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 Design Procedure
• Step-2

– Assume the transfer function of the lag compensator to be given by

following equation

 
=

– Then the open-loop transfer function of the compensated system

becomes Gc(s)G(s).

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 Design Procedure
• Step-3

– Evaluate the particular static error constant specified in the

problem.

– Determine the amount of increase in the static error constant

necessary to satisfy the specifications.

20
 Design Procedure
• Step-4

– Determine the pole and zero of the lag compensator that

produce the necessary increase in the particular static error
constant without appreciably altering the original root loci.

– The ratio of the value of gain required in the specifications

and the gain found in the uncompensated system is the
required ratio between the distance of the zero from the
origin and that of the pole from the origin.

21
 Design Procedure
• Step-5

– Draw a new root-locus plot for the compensated system.

– Locate the desired dominant closed-loop poles on the root locus.

– (If the angle contribution of the lag network is very small—that is, a few
degrees—then the original and new root loci are almost identical.

– Otherwise, there will be a slight discrepancy between them.

– Then locate, on the new root locus, the desired dominant closed-loop
poles based on the transient-response specifications. 22
 Design Procedure
• Step-6
 

– Adjust gain of the compensator from the magnitude condition so

that the dominant closed-loop poles lie at the desired location.

– will be approximately 1.

23
 Example-1
•• Consider
  the system shown in following figure.

• The damping ratio of the dominant closed-loop poles is . The

undamped natural frequency of the dominant closed-loop
poles is 0.673 rad/sec. The static velocity error constant is
0.53 sec–1.
• It is desired to increase the static velocity error constant Kv to
about 5 sec–1 without appreciably changing the location of
the dominant closed-loop poles.
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 Example-1 (Step-1)
• The dominant closed-loop poles of given system are

s = -0.3307 ± j0.5864

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 Example-1 (Step-2)
• According to given conditions we need to add following
compensator to fulfill the requirement.

 
=

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 Example-1 (Step-3)
•• The
  static velocity error constant of the plant () is
  1.06
𝐾 𝑣 = lim 𝑠𝐺 ( 𝑠)= lim 𝑠
𝑠→0 𝑠→0 [
𝑠 ( 𝑠+1 ) ( 𝑠+2 )
= 0.53 𝑠 −1
]
• The desired static velocity error constant () of the
compensated system is .

𝐾
 ^
𝑣 =lim 𝑠 𝐺𝑐 ( 𝑠 ) 𝐺( 𝑠)= 𝐾 𝑣 lim 𝐺 𝑐 ( 𝑠 )
𝑠→0 𝑠→0

  1
𝑠+
^ ^ 𝑇 ^𝑐 𝛽
𝐾 𝑣 =𝐾 𝑣 lim 𝐾 𝑐 =𝐾 𝑣 𝐾
𝑠→ 0 1
𝑠+
𝛽𝑇
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 Example-1 (Step-3)
  1
𝑠+
^ ^ 𝑇 ^𝑐 𝛽
𝐾 𝑣 =𝐾 𝑣 lim 𝐾 𝑐 =𝐾 𝑣 𝐾
𝑠→ 0 1
𝑠+
𝛽𝑇

𝐾 𝑣 =𝐾 𝑣 𝐾
^
  ^𝑐 𝛽

5=0.53 𝛽
 

𝛽=10
 

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 Example-1 (Step-4)
•• Place
  the pole and zero of the lag compensator

 
=

• Since , therefore
 
=

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 Example-1 (Step-4) Solution-1

• Place the zero and pole of the lag compensator at s=–0.05

and s=–0.005, respectively.
• The transfer function of the lag compensator becomes
 
=
• Open loop transfer function is given as
 
=
 
=

𝑤h𝑒𝑟𝑒 𝐾 =1.06 ^
 
𝐾𝑐 30
 Example-1 (Step-5) Solution-1

• Root locus of uncompensated and compensated systems.

• New Closed Loop poles are

𝑠=−0.31 ± 𝑗 0.55
 

31
 Example-1 (Step-5) Solution-1

• Root locus of uncompensated and compensated systems.

32
 Example-1 (Step-6) Solution-1

•• The
  open-loop gain K is determined from the magnitude
condition.
  𝐾 (𝑠 +0.05)
| 𝑠 ( 𝑠+0.005)(𝑠 +1)( 𝑠+ 2) |
𝑠=− 0.31+ 𝑗 0.55
=1

  𝐾 =1.0235
• Then the compensator gain is determined as

𝐾 =1.06 ^
 
𝐾𝑐
 
^ 𝐾
𝐾 𝑐= =0.9656
1.06
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 Example-1 (Step-6) Solution-1

• Then the compensator transfer function is given as

  𝑠 +0.05
𝐺 𝑐 ( 𝑠 )=0.9656
𝑠 +0.005

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 Example-1 (Final Design Check) Solution-1

• The compensated system has following open loop transfer

function.
 
=

• Static velocity error constant is calculated as

𝐾
 ^
𝑣 =lim 𝑠 𝐺 𝑐 ( 𝑠 ) 𝐺 ( 𝑠)
𝑠→0
  1.0235 ( 𝑠+ 0.05 )
𝐾 𝑣 =lim 𝑠 [
^ ]
𝑠→0 𝑠 ( 𝑠+0.005 )( 𝑠+1 ) ( 𝑠 +2 )
  1.0235 ( 0.05 ) −1
𝐾 𝑣=
^ =5.12 𝑠
( 0.005 ) ( 1 ) ( 2 )
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 Example-1 (Step-4) Solution-2

• Place the zero and pole of the lag compensator at s=–0.01

and s=–0.001, respectively.
• The transfer function of the lag compensator becomes
 
=
• Open loop transfer function is given as
 
=
 
=

𝑤h𝑒𝑟𝑒 𝐾 =1.06 ^
 
𝐾𝑐 36
 Example-1 (Step-5) Solution-2

• Root locus of uncompensated and compensated systems.

Root Locus
• New Closed Loop poles are 6
Actual System
4 Compensated System

𝑠=−0.33 ± 𝑗 0.55
 
2

Imaginary Axis
0

-2

-4

-6
-8 -6 -4 -2 0 2 4
Real Axis
37
 Example-2
• Design
  a lag compensator for following unity
feedback system such that the static velocity error
constant is 50 sec-1 without appreciably changing the
closed loop poles, which are at.

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 Lag-Lead Compensation
• Lead compensation basically speeds up the response and
increases the stability of the system.

• Lag compensation improves the steady-state accuracy of the

system, but reduces the speed of the response.

• If improvements in both transient response and steady-state

response are desired, then both a lead compensator and a
lag compensator may be used simultaneously.

• Rather than introducing both a lead compensator and a lag

compensator as separate units, however, it is economical to
use a single lag–lead compensator. 39
 Lag-Lead Compensation
• Lag-Lead compensators are represented by following transfer
function

 
, ()

• Where Kc belongs to lead portion of the compensator.

40
 Design Procedure
•  In designing lag–lead compensators, we consider two
cases where

• Case-1:
 
, ()

• Case-2:
 
, ()

41
 Design Procedure (Case-1)
•  Case-1:
 
, ()

• Step-1: Design Lead part using given

specifications.

• Step-1: Design lag part according to given values

of static error constant.
42
 Example-1 (Case-1)
• Consider the control system shown in following figure

• The damping ratio is 0.125, the undamped natural frequency is 2

rad/sec, and the static velocity error constant is 8 sec–1.
• It is desired to make the damping ratio of the dominant closed-loop
poles equal to 0.5 and to increase the undamped natural frequency
to 5 rad/sec and the static velocity error constant to 80 sec–1.

• Design an appropriate compensator to meet all the performance

specifications. 43
 Example-1 (Case-1)
• From the performance specifications, the dominant closed-loop
poles must be at
 𝑠=−2.50 ± 𝑗 4.33
• Since
4
  235
s ( s  0.5) s  2.50 j 4.33
• Therefore the phase-lead portion of the lag–lead compensator
must contribute 55° so that the root locus passes through the
desired location of the dominant closed-loop poles.

44
 Example-1 (Case-1)
•• The
  phase-lead portion of the lag–lead compensator becomes
 
=

• Thus and .

• Next we determine the value of Kc from the magnitude

condition:
  ( 𝑠+0.5) 4
|
𝐾𝑐
|
𝑠+5.02 𝑠 (𝑠 +0.5) 𝑠=−2.5 + 𝑗 4 .33
=1

 
𝑠 (𝑠 +5.02)
𝐾 𝑐= | 4 |
𝑠=−2.5 + 𝑗 4 . 33
=5 . 26
45
 Example-1 (Case-1)
•• The
  phase-lag portion of the compensator can be designed as
follows.
• First the value of is determined to satisfy the requirement
on the static velocity error constant
𝐾 𝑣 =lim 𝑠 𝐺𝑐 ( 𝑠 ) 𝐺( 𝑠)
 ^
𝑠→0
  1

[ ( )
]
25.04 𝑠+
𝑇2
80 =lim 𝑠
𝑠 →0 1
(
𝑠 ( 𝑠 +5.02 ) 𝑠 +
𝛽 𝑇2 )
 
80=4.988 𝛽
𝛽=16.04
  46
 Example-1 (Case-1)
• Finally,
  we choose the value of such that the following two
conditions are satisfied:

47
 Example-1 (Case-1)
• Now the transfer function of the designed lag–lead
compensator is given by
 

48
Example-1 (Case-2)

Home Work

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 Home Work
• Electronic Lag-Lead Compensator
• Electrical Lag-Lead Compensator
• Mechanical Lag-Lead Compensator

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http://imtiazhussainkalwar.weebly.com/

END OF LECTURES-4-5-6

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