Introduction To Design

Introduction to Design
Refer Textbook
Control Systems Engineering by
Nagrath , Gopal
Control System Design Problem
• The control systems are designed for specific application should to meet certain
performance specifications.
Figure 1: Antenna Tracking Control System

Continued…
• In addition to the performance
specifications, some other constraints are
also imposed on the control system design.
• For the example considered , the system as
to drive large size antenna.
• Proper actuator as to be selected based on
the size of the antenna.
• While selecting motor size we need to
consider the performance specifications,
available power supply, cost and space
constraints. Figure 1: Block Diagram of the experimental
setup of antenna tracking control system
Continued…
• The plant alone in the system cannot achieve the specifications.
• A corrective subsystem is used which forces the plant to meet the requirements,
such subsystems are called compensators.
• Role of the compensator is to compensate the deficiency in the performance of the
plant.
Given a plant and set of specifications , design a suitable compensators so that the
overall system will meet the required specifications
Continued…
What a control engineer will have in hand when he starts the design??
• Set of performance specifications,

• Time domain specifications 𝜁, 𝑀𝑝 , 𝜔𝑛 , 𝑡𝑟 , 𝑡𝑠 𝑒𝑡𝑐. . , or,
• Frequency domain specifications 𝑀𝑟 , 𝜔𝑟 , 𝜔𝐵𝑊 , 𝑃𝑀, 𝐺𝑀
Next what should he decide??

• Select the system configuration (compensation techniques)
Compensators
• Compensators are subsystems introduced into the system to meet design
specifications.
• The compensator may be electrical, mechanical, hydraulic, pneumatic or other
types.
• Electrical compensators are widely used in many control systems.
Electrical Lag
Compensator
Pneumatic Lag
Compensator
Mechanical Lag
Compensator
Necessities of compensation
• A system may be unsatisfactory in：

Stability.
Speed of response.
Steady-state error.
• Thus the design of a system is concerned with the alteration of the frequency
response or the root locus of the system in order to obtain a suitable system
performance.
Compensator Configurations
• Compensation schemes commonly used for feedback control systems are:
• Series (cascade)Compensation
• Parallel (feedback) Compensation

Commonly Used Compensators
• Lead compensators
• If a sinusoidal input is applied to the input of a network, and the steady-state output
(which is also sinusoidal) has a phase lead, then the network is called a lead network.
• Lag compensators
• If the steady-state output has a phase lag, then the network is called a lag network.
• Lag–lead compensators
• In a lag–lead network, both phase lag and phase lead occur in the output but in different
frequency regions.
• Phase lag occurs in the low-frequency region and phase lead occurs in the high-frequency
region.
Commonly Used Compensators
• Lead compensators: (to speed up transient response, margin of stability)
• Lag compensators:(to improve error constant or steady-state behavior – while

retaining transient response)
• Lag–lead compensators: (A combination of the above two i.e. to improve

steady state as well as transient).
Lead Compensator
• Lead compensators have a transfer function of
the form
(1)
1 1
• It has zero at 𝑠 = − & a pole at 𝑠 = −
𝜏 𝛼𝜏
• Zero closer to the origin, thus we can say in
the lead compensator zero is more dominating
than the pole and because of this lead network
introduces positive phase angle to the system
when connected in series.
Continued…
• Lead compensator can be realized by an electrical network
(2)
• Where 𝜏 & 𝛼 are time constant and attenuation constant

respectively.
Figure: Electrical Lead Network

Continued…
𝜏𝑠+1
• Consider the sinusoidal transfer function of 𝐺𝑐 𝑠 = 𝛼 from equ (1)
𝛼𝜏𝑠+1
1 + 𝑗𝜔𝜏
𝐺𝑐 𝑗𝜔 = 𝛼 ;𝛼 < 1
1 + 𝑗𝜔𝛼𝜏
• At 𝜔 = 0,the network has gain of 𝛼 < 1, let us cancel this dc attenuation of the
1
network with an amplification factor of 𝐴 =
𝛼
Figure: Phase Lead Network with Amplifier

Continued…
• Connecting amplifier in series with the electrical network we get,
1 + 𝑗𝜔𝜏 (3)
𝐺𝑐 𝑗𝜔 = ;𝛼 < 1
1 + 𝑗𝜔𝛼𝜏
• Finding the phase angle function for the transfer function in equation (3) we have
• 𝜙 = tan−1 𝜔𝜏 − tan−1 𝛼𝜔𝜏 (4)
𝜔𝜏 − 𝛼𝜔𝜏 (5)
tan 𝜙 =
1 + 𝛼𝜔 2 𝜏 2
• Using 𝑑𝜙ൗ𝑑𝜔 = 0 for equ (4), we find the maximum phase lead occurring
frequency, 𝜔𝑚
1 1 1
• 𝜔𝑚 = = × → geometric mean of two corner frequencies
𝜏 𝛼 𝜏 𝛼𝜏
Continued…
1
• The maximum phase lead is obtained by substituting ω = 𝜔𝑚 = in equation
𝜏 𝛼
(5),
𝜔𝑚 𝜏(1 − 𝛼) (1 − 𝛼)
tan 𝜙𝑚 = 2 2
=
1 + 𝛼𝜔𝑚 𝜏 2 𝛼
(1−𝛼)
• sin 𝜙𝑚 = (6)
(1+𝛼)
(1−sin 𝜙𝑚 )
• Equation (6) gives 𝛼 in terms of 𝜙𝑚 , 𝛼=
(1+sin 𝜙𝑚 )
• The magnitude of 𝐺𝑐 (𝑗𝜔) at 𝜔𝑚 is
Continued…
• The magnitude of 𝐺𝑐 (𝑗𝜔) at ω = 𝜔𝑚 in decibels is,
1 1
𝐺𝑐 (𝑗𝜔) 𝑖𝑛 𝑑𝐵 = 20 log = 10 log
𝛼 𝛼
• As ω ⟶ ∞, the magnitude of 𝐺𝑐 (𝑗𝜔) in decibels becomes,
1
20 log
𝛼
Lag Compensator
• Lag compensators have a transfer function of the
form,
𝑠 + 𝑧𝑐 𝑠 + 1ൗ𝜏 𝑧𝑐
𝐺𝑐 𝑠 = = ; 𝛽= > 1, 𝜏 > 0 (7)
𝑠 + 𝑝𝑐 𝑠 + ൗ1 𝑝𝑐
𝛽𝜏
• A system which has one zero and one dominating
pole ( the pole which is closer to origin) is known
as lag network.
• If we want to add a dominating pole for
compensation in control system then, we have to
select a lag compensation network.
Electrical Lag Network
• The lag compensator can be realized by the following electrical
network
1
𝐸𝑜 (𝑠) 𝑅2 +𝑠𝐶 1 𝑠+ 1Τ𝑅2 𝐶
• = 1 = 𝑅1 +𝑅2 1
(8)
𝐸𝑖 (𝑠) 𝑅1 +𝑅2 +𝑠𝐶 𝑠+ 𝑅 +𝑅
𝑅2 1 2 𝑅 𝐶
𝑅2 2
𝑅1 +𝑅2
• Comparing eqns. (7) & (8) we get, 𝜏 = 𝑅2 𝐶 , 𝛽 = >1
𝑅2
• Where, 𝜏 and β are respectively the time constant and DC gain
𝐸𝑜 (𝑠) 1 𝑠+1Τ𝜏 𝜏𝑠+1 Figure : Electric Lag Network
• = 𝐺𝑐 𝑠 = = (9)
𝐸𝑖 (𝑠) 𝛽 𝑠+1ൗ𝛽𝜏 𝛽𝜏𝑠+1
1
• In this lag network realization we have factor
𝛽
Phase function
• The sinusoidal transfer function of lag compensator can be obtained by
𝝉𝒋𝝎+𝟏
substituting 𝑠 = 𝑗𝜔 in eqn (9) , 𝑮𝒄 𝒋𝝎 =
𝜷𝝉𝒋𝝎+𝟏
• Lag network has a DC gain of unity.
1
• It offers high frequency gain of , since 𝛽 > 1 the high frequency noise is
𝛽
attenuated as it passes through the network and signal to noise ratio is
improved, typical choice for 𝛽 is 10 .
• The phase function is , 𝝓 = 𝐭𝐚𝐧−𝟏 𝝎𝝉 − 𝐭𝐚𝐧−𝟏 𝜷𝝎𝝉, since 𝛽>1 steady state
output lags the input sinusoidal input.
𝝎𝝉−𝜷𝝎𝝉
• The tangent of the phase is, 𝐭𝐚𝐧 𝝓 =
𝟏+𝜷𝝎𝟐 𝝉𝟐
Maximum Phase Lag
• The frequency (𝜔𝑚 ) at which maximum phase lag 𝜙𝑚 can be obtained by ,
𝑑𝜙 1 1 1
• = 0, we get 𝜔𝑚 = = ×
𝑑𝜔 𝜏 𝛽 𝜏 𝛼𝛽
• The maximum phase-lead 𝜙𝑚 is given by,

𝜔𝑚 𝜏(1−𝛽) (1−𝛽)
• tan 𝜙𝑚 = =
1+𝛽𝜔𝑚 2 𝜏2 2 𝛽
(1−𝛽)
• sin 𝜙𝑚 =
(1+𝛽)
Bode plot of Phase Lag Network
Lag network acts like a low

pass filter attenuating high
𝟏
frequencies by −𝟐𝟎𝒍𝒐𝒈 𝜷 𝒅𝑩
Lag-Lead Compensator
• Lag-lead compensator is a combination of lag
compensator & lead compensator.
• The lag section has one real pole & one real
zero with pole to the right of zero.
• The lead section also has one real pole & one
real zero but the zero is to the right of the
pole.
• The transfer function of lag-lead compensator
is ,
𝑠+1ൗ𝜏1 𝑠+1ൗ𝜏2
𝐺𝑐 (𝑠) = ; 𝛽 > 1, 𝛼 < 1
𝑠+1ൗ𝛽𝜏 𝑠+1ൗ𝛼𝜏2
1
(9)
Continued…
• Equation (9) can be realized by single electrical network
𝐸𝑜 (𝑠) 𝑅2 +1Τ𝑠𝐶2
• = 1 𝑅 Τ𝑠𝐶
𝐸𝑖 (𝑠) 𝑅2 + + 1 Τ1
𝑠𝐶2 𝑅1 +1 𝑠𝐶1
1 1
𝐸𝑜 (𝑠) 𝑠+𝑅 𝐶 𝑠+𝑅 𝐶
• = 1
1 1
1 1
2 2
1 (10)
𝐸𝑖 (𝑠) 𝑠 2 + 𝑅 𝐶 +𝑅 𝐶 +𝑅 𝐶 𝑠+𝑅 𝑅 𝐶 𝐶
1 1 2 1 2 2 1 2 1 2
• Comparing eqns. (10) & (9) , we have Figure : Electrical Lag-lead
• 𝑅1 𝐶1 = 𝜏1 , (11) Network
• 𝑅2 𝐶2 = 𝜏2 , (12)
• 𝑅1 𝑅2 𝐶1 𝐶2 = 𝛼𝛽𝜏1 𝜏2 (13)
1 1 1 1 1
• + + = +
𝑅1 𝐶1 𝑅2 𝐶1 𝑅2 𝐶2 𝛽𝜏1 𝛼𝜏2
Continued…
• From eqns. (11), (12) & (13) we get 𝛼𝛽 = 1, single lag-lead network does not
allow to independently select 𝛼 𝑎𝑛𝑑 𝛽.
• Keep this in mind the eqn. (9) can be rewritten as,
• The sinusoidal transfer function of lag-lead network,

Continued…
• s-plane representation of lag-lead network,
Bode plot of lag-lead network
Problem 1- Lead Compensator
Design a lead compensator for a unity feedback system with an open loop transfer
𝐾
function 𝐺 𝑠 = for specifications 𝐾𝑣 = 10 & PM=36 degrees
𝑠(𝑠+1)
Steps- Design of Lead Compensator
• Specifications – System error & Phase Margin (𝜙𝑠 ).
• STEP1: Determine the open loop gain K required to satisfy the specified error
constant
• STEP2: Using this value of K draw the magnitude and phase Bode plots.
• Determine the phase margin, (𝜙𝑚1 ) and gain crossover frequency (𝜔𝑐1 )
• Phase margin of uncompensated network falls short of specified phase margin
𝜙𝑠 .
• STEP3:Determine the phase lead required
• 𝜙𝑙 = 𝜙𝑠 − 𝜙𝑚1 + 𝜀
• 𝜀 , margin of safety to account for the reduction in the phase angle of
uncompensated network
• 𝜀 = 5° − 10° for slope -40dB/dec , 𝜀 = 15° − 20° for slope -60dB/dec
• STEP4: the new gain cross over frequency 𝜔𝑐2 will shift to right to provide
addition phase shift
• This additional phase is the maximum phase lead provided by lead
compensator 𝜙𝑚 = 𝜙𝑙
• Frequency of maximum phase lead coincide with 𝜔𝑐2 = 𝜔𝑚
• STEP5: Determine the 𝛼 parameter
1−sin 𝜙𝑙
• 𝛼=
1+sin 𝜙𝑙
• The new cross over frequency can be determined as the frequency at which
uncompensated network has a dB gain of −10log(1Τ𝛼)
1 1
• STEP6: Two corner frequencies 𝜔1 = = 𝜔𝑚 𝛼, 𝜔2 = = 𝜔𝑚 / 𝛼
𝛼 𝜏𝛼
• STEP7:The transfer function of the compensator
1+𝜏𝑠
• 𝐺𝑐 𝑠 =
1+𝛼𝜏𝑠
• STEP8: check the phase margin of compensated network, If the phase margin is
still low increase ϵ and go to step 3.
Overall Observations
• It adds a pole and a zero (with zero to the right of pole) to the forward path
transfer function.
• Cross over frequency is increased.
• Bandwidth of closed loop system is increased, hence an improvement in the speed
of response of the system results.
• The rise time and settling time reduces
• Improves the phase margin and gain margin of the closed loop system
Assignment
Design a lead compensator for a unity feedback system with an open loop transfer
𝐾
function 𝐺 𝑠 = for specifications 𝐾𝑣 = 12 & PM=40 degrees
𝑠(𝑠+1)
Problem 1- Lag Compensator
𝐾 𝐾𝑣
• Consider a unity feedback network 𝐺 𝑠 = = , where we want
𝑠(𝑠+2) 𝑠(0.5𝑠+1)
𝐾𝑣 = 20 and phase margin 45°

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Introduction to Design

Figure 1: Antenna Tracking Control System

• Set of performance specifications,

Next what should he decide??

• A system may be unsatisfactory in：

• Parallel (feedback) Compensation

• Lag compensators:(to improve error constant or steady-state behavior – while

• Lag–lead compensators: (A combination of the above two i.e. to improve

• Where 𝜏 & 𝛼 are time constant and attenuation constant

Figure: Electrical Lead Network

Figure: Phase Lead Network with Amplifier

• The maximum phase-lead 𝜙𝑚 is given by,

Lag network acts like a low

• The sinusoidal transfer function of lag-lead network,

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