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EN 2142 Electronic Control Systems: Only On The Root Locus

This document discusses generic compensators that can be used to change an existing root locus when pole locations desired by the designer lie outside the root locus. There are three main compensators discussed: 1. Phase lead compensator - Adds a pole and zero to increase the phase lead in the open loop system, bending the root locus left. An example design achieves specifications of 4% overshoot and 1 second setting time. 2. Phase lag compensator - Adds poles and zeros to increase phase lag, improving damping coefficient. However, it reduces phase margin so is rarely used. 3. Notch filter - Adds poles and zeros to cancel out unmodeled oscillatory poles in the system response, improving behavior

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53 views

EN 2142 Electronic Control Systems: Only On The Root Locus

This document discusses generic compensators that can be used to change an existing root locus when pole locations desired by the designer lie outside the root locus. There are three main compensators discussed: 1. Phase lead compensator - Adds a pole and zero to increase the phase lead in the open loop system, bending the root locus left. An example design achieves specifications of 4% overshoot and 1 second setting time. 2. Phase lag compensator - Adds poles and zeros to increase phase lag, improving damping coefficient. However, it reduces phase margin so is rarely used. 3. Notch filter - Adds poles and zeros to cancel out unmodeled oscillatory poles in the system response, improving behavior

Uploaded by

Nicole Hardy
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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7.

Generic Compensators
EN 2142 Electronic Control Systems
Dr. Rohan Munasinghe
BSc, MSc, PhD, MIEEE
Department of Electronic and Telecommunication Engineering
Faculty of Engineering
University of Moratuwa 10400
Problem of Root Locus Design
Root locus design can locate poles only on the root locus.
The method cannot change the root locus and locate
poles desired locations if they are outside the existing root
locus. locus.
Generic compensators C(s) are used in such situations in
order to change the existing root locus
There are three generic compensators as
Phase lab compensator
Phase lead compensator
Notch filter
Phase Lead Compensator
Transfer Function
Phase contribution
Example
Open loop transfer function of a system is Open loop transfer function of a system is
Design a control system for the following specifications
1. 4% overshoot
2. 1% setting time of 1s
Phase Lead Design
Answer
The root locus of the
feedback control
system with a system with a
single feedback
gain is
Phase Lead Design
Desired poles for required specifications Desired poles for required specifications
Poles are outside the
root locus
43 . 4 6 . 4
1 ,
2
2 1
j
j
n n
=
=
root locus
Gain tuning is not useful
Lead Compensator Design
Root locus has to be bent
To the left. Introduce a lead
Compensator
Characteristic Equation
with the lead is
And, at phase condition
43 . 4 6 . 4 ,
2 1
j =
Phase Lead Compensator Design
Assume compensator
zero=-4, and determine
the pole
Lead Compensator Design
Lead Compensator Design
Lead Compensator Design
Closed Loop Tr Fn
DCG
Lead Compensated System Lead Compensator Design
Lag Compensator Design
Lag transfer function
Phase contribution
Lag compensator improves DCG
With Lag
Lag Compensator is rarely used as it reduces phase in the
feedback loop
Notch Filter Design
Some plants show sustained oscillations even under the
control of a properly design controller
NF can reduce such unmodeled oscillatory response
modes of the system by cancelation of poles with zeros modes of the system by cancelation of poles with zeros
Notch Filter Design
Example
Properly designed lead compensated feedback plant is
There are unmodeled pair of oscillatory poles
NF poles and zeros
NF Tr Fn
Notch Filter Design
Notch filter is inserted as a cascaded block (in series) with
the existing feedback control system
Notch Filter Design Notch Filter Design

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