0% found this document useful (0 votes)
94 views497 pagesAdvanced Control Theory
Uploaded by
Dz DidouCopyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF or read online on Scribd
0% found this document useful (0 votes)
94 views497 pagesAdvanced Control Theory
Uploaded by
Dz DidouCopyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF or read online on Scribd
/ 497
AdvancedsGontrol
Ce ,SAT
ADVANCED
CONTROL
THEORY
‘ SECOND EDITION
A.NAGOOR KANi
ctin
Tee
Beart
RBA PUBLICATIONS
No.71 (Old No. 32), Seshachalam Street,
Saidapet, Chennai - 600 015.
Phone : (044) - 24333031, 24926472,
Email : [email protected].
Website : www. rbapublications.comCONTENTS —
a Paye No.
Chapter - 1 Linear system design :
1.1, Introduction to dasign using componsaters «x.
1.2 Lag compensator 6
1.3 Load componsator M4
1.4 Lag-Lead componsator 63
1.5 PL, PD and PID contvoltars 83
1.6 Fandback compensation 109
1.7 Short quostions and answord sine a 427
18 197
Chapter - 2 Nonlinear systems
2.1 Introduction to nonlinear systoms 1
2.2 Describing functio 150
2.3 Describing function of doad-zona and saturation nontinoarity 151
2.4 Describing function of saturation nonlinoarlty 156
2.5 — Doscribing function of doad-zon0 nonlineadty 150
2.8 — Describing function of rolay with dond-vono and hystorosis 162
2.7 Describing function of backlash nonlinoarity 167
2.8 Describing function analysis of nonlinour systams...0u 172
2.9 Review of polar plot and Nichols plot. 175
2.10 Phase plano and phaso trajectories 193
2.11 Short questions and answi 25
212 Exorcises . 225
Chapter - 3 Sampled data control systems
3.1 Introduction .. 229
3.2 Sampling procos 231
3.3 Analysis of sampling procoss in froquo 292
3.4 Reconstruction of samplod signals using hold circuits 24
4.5 Discroto sequence (Discroto timo signal) 735
9.8 | 2-Transform .. “140
3.7 Linear discrote timo systems .. 268
4.8 Transfor function of LDS systom (Patso Tronstor Function} a
4.9 Analysis of samplor and zoro-ordor Old ss.ne a ui
3.10 Analysis of systoms with impulse samplingorton
3.11 Analysis of sampled data contral systems using z-trensfarm -
3.12 The x and s-domain relationship ..
3.13. Stability analysis of sampled data contral systems
3.14 Short questions and answars..
3.15. Exercises...
Chapter-4 State space analysis
4.1 Introduction
4.2 State space formulation .
4.3. State madel of linear syste
4.4 State diagram a
4.5 State space representation using physical variables
4.6 State space representation using phase variable:
4.7 State space representation using canonical variables...
4.8 Solution of state equations
4.9 State space representation of discrete time systems..
4.10 Short questions and answers...
4.11 Exercises...
Chapter-5 Analysis and design of control
systems in state space
8.1 Definitions involving matrices
5.2. Eigenvalues. and eigenvectors.
5.3. Similarity transformation.
5.4 Cayley-Hamilton theorem
5.5. Transtormation of state model
5.6 Concepts of controllability and observabi
5.7 Gontrollable phase variable form of state model
5.8 Control system design via pole placement by state feedback
5.9 Observable phase variable form of state model
5.10 State observers...
5.11 Short questions and answers
5.12 Exercises
Appendix | Bode plot.
Appendix II Root locus ..
Index
* naa.
295
296
305
a8
319
320
321
323
325
MB
360
369
384
403
a7
421
422
424
426
436
449
460
470
£89
494
504
515
519
533
546Chapter 1 Linear Systam Design
L
Linkar Sysran
DESIGN
1.1 _ INTRODUCTION TO DESIGN USING COMPENSATORS
The control systems are designed to perform specific tasks. The requirements of
control system are usually specified as performance specifications, The specifications
are generally related to accuracy, reiative stability and spced of response.
In time domain, the transient state performance specifications are given in terms of
rise time, maximum overshoot, settling time and/or damping ratio. In frequency domain,
the transient state performance specifications are given in terms of phase margin, gain
margin, resonant peak and/or bandwidth. The steady state requirementare given in terms
of error constants.
When performance specifications are given for single input, single output linear
time invariantsystems, then the system can be designed by using roat locus or frequency
response plots. To be more precise, when time domain specifications are given, root
locus technique is employed in designing the system. If frequency domain specifications
are given, frequency response plots like Bode plots are used in designing the system.
The first step in design is the adjustment of gain to mect the desired specifications.
In practical systems, adjustment of gain alone will not be sufficient to meet the given
specifications. In many cases, increasing the gain may result in poor stability or instability
In such cases, it is necessary to introduce additional devices or components in the system
ter the behaviour and to meet the desired specifications. Such a redesi
ofa suitable device is called compensation. A device inserted into the system for the
purpose of satisfying the specifications is called compensator. The compensators basically
introduce pole and/or zero in open loop transfer function to modify the performance of
the system.Advanced Control Theory
ification
The design problem may be stated as Jolayes: When asetol specimens
tare given jor aaystem . then o suifable compensator should be desianec's
overall system will meet the given specification
cs
The compensation schemes used lor 16s)
feedback contral system is either series
nor parallel (feed back}
tion. In series compensation, the
compensator with transfer function. G(s)is
placed in series with plant. In feedback
compensation, the signal from some clement
is feedback to the input and 2 compensator
swith transfer function G¢spis placed in the
resulting inner feedback path, “The series and
parallel compensation schemes are shown
in fig Lal and 1.2 respectively.
The choice between series
compensation and parallel compensation Fig. 1.2 : Feedbackiparal
depestscn cower
1. Nature of signals in the system.
2. Power levels at various painls. 4. Dosigner’s experiance.
3. ‘Components available. 5, Economic considerations and 30.07.
‘The compensator may be electrical, mechanical, hydraulic, pneumatic oF other type
of device armetwork, Usuially, an electric network electronic Ucvice serves as compensator
in many control systems. ‘The different types of electrical or clectronic compensatars used
are Lug compensator, Lead compensator ane Lay-teud compeusater,
In control systems, compensation &
quired in the following situations.
]. When the system és absolutely unstable, then compensetion is required 10
stobilize the system and also fo meet the desired performance,
2, When the system is stable, compensotion is provided fo obtain the desired
performance.
“The systems with type number 2nd above are usually absolutely unstable system:
lence for systems with type number 2 and above, lead compensation is required, hecaus
the lead compensator increases the margin of stability, l.Chapter 1 Linear System Desig
pher Lard,
slay. te
pe of com pense
ni
pens
petfarinanee He partieaar che
the fallaysing sections
Inv systens with ty
ceases any a Ue th wl may be used to obtain the desired
or is based on the factors thatare discussed in
ROOT LOCUS APPROACH TO CONTROL SYSTEM DIES
y: toot locus, the desired hehaviour is specified in terms of transient
ications andl steady - state error requirement (the steady = state error is
(1 in terms of error constants for stndard inputs, while the transient
rement iy specified in terms.of peuk overshoot, settling time, rise time,
uvsient respoulse specifications van be translated into desired
N
Ind
Hesponse pipe
Inorder to meet the desired specifications, the root loci are reshaped so that they
ronigh the points where the dominant clased loop poles are located. The root loci
haped hy intraducing a compensator. The compensator will add a pole and/or a
the open loop tanster function af the syste
The addition of a pole to the open-loop transfer function has the effect af pulling
the root Locus to the right, whieh reduce the relative stability of the system and increase
loop transfer function has the effect
em is either unstable or stable but has undesirable transient response
charaet lead compensatorean be employed to modify the root locus. The trarisfer
mn of lead compensator will have a zero (compensating zeta) and a pole
(compensating, pale).
‘The compensator zero ca
ent reaponse specification
which is eliminated by the compensati
on real axis such that
Iwo dominant closed loop pok
Ifthe pole is locuted faraway from zero then it will not be effective in suppressing
the noise. If the pale is tao close to zero then it will not allow the zero to do its job. In
order to avoid this conflict, the pole is located at 3 to 10 times the value of zero location.
‘The lag compensator is employed when a stable system has satisfactory transient
response characteristics but unsatisfactory stendy state characteristics, L.e., error
requirement. The transfer function of lag compensator will have a zero (compensating
zero) and a pole (compensating pole).
In order to preserve the int response characteristics the compensating pole and
vero should have negligible effect on shape of raot lacus. This is achieved by placing the
compensating pole and zeta very close to each other, If the pale and zero are located close
to the origin then the error constant will increase which will reduce the steady state error.
hy adjusting the gain, In eel.Advanced Control Theory _ —_
both the transient and steady-state
tion will improve the transient
The lag-l
characteristic
‘ad compensator is employed when
© not satisf he lead compen:
Tesponse and lag compensation will reduce the steady state error.
nique is that the information about
ined from the
____Theadvantage in design using root locus tech
closed loop transient response and frequency response are dircetly obtai
pole-zero configuration of the system in the s-plane.
FREQUENCY RESPONSE APPROACH TO CONTROL SYSTEM DESIGN
The objective of frequency domain design is to reshape the frequncy-response
characteristics so that the desired specifications are satisfied. ‘The frequency domain
design can be carried out using Nyquist plot, Bode plot or Nichols chart. But Bode plot
are popularly used for design because they are easier to draw and modify.
In design using bode plots the desired performance specifications are given in
terms of frequency domain specifications and steady-state error requirement.
The stability requirement is specified in terms of phase margin and resonant peak.
The transient response requirements are specified in terms of ‘gain cross over frequency,
bandwidth and resonant frequency. The error requirement is specified in terms of static
error constants (K,. K, or K,).
Note : In case the transient response specifications are given in time domain, we can
translate them into frequency domain specifications using the following formulae.
26
[acrar of
Phase margin, y= tan” = 1006
1
Gain cross over frequestey, ge =O n rf lac -2f
ps
faci frequency, ®, =n ii 20?
1
Bandwidth, op» =n [o-2 4 fac! -avaP
‘The low frequency region of bode plot provides information regarding the steady
and high frequency region provides information regarding the transient-
“The medium frequency (or mid-frequency) range provides information
vevarding lative stability Therefore, the lov requeney region ofthe bode plot is reshaped
by lag compensation to improve steady state performance. The high frequency region of
the bode plot is reshaped by Icad compensation to improve transient-state performance.
=
Resonant peak, M,
state performance
state performance.es ____ Chapter 1 Linear System Design
When the system requires improvement in both steady-state and transient state,
sation can be employed to alter both the low and high frequency regions
{The primary function of lend compensator is to reshape the frequency response
Set ane Provide sufficient phase lead angle to offset the excessive phase lag associated
with the components ofthe plant The primary function of lag compensator ito provide
attenuation in the high frequency region to achieve sufficient phase margin,
The advantage in frequency-domain design is that the effects of disturbances,
Samer Oise and plant uncertainties are relatively easy to visualize and assess in frequency
domain. Another advantage of using frequeney response is the ease with whiny
experimental information can be used for design purposes.
A disadvantage of frequency-response design is that it gives us information on
closed-loop system's transient response indirectly, while the root locus design gives
this information directly.
1.2 LAG COMPENSATOR
A compensator having the characteristics of a lag network is called a lag
sonbensator Ifa sinusoidal signal is applied to a lag network, then in steady state the
output will have a phase lag with respect to input.
Lag compensation results ina large improvement in steady state performance but
results in slower response due to reduced bandwidth. The attenuation due to the lag
compensator will shift the gain crossover frequency to a lower frequency point where
the phase margin is acceptable. Thus, the lag compensator will reduce the bandwidth of
the system and will result in slower transient response.
Lag compensator is essentially low pass filter and so high frequency noise signals
are attenuated, Ifthe pole introduced by the compensator isnot cancelled by a zero in the
system, then lag compensator increases the order of the system by one.
S-PLANE REPRESENTATION OF LAG COMPENSATOR
SR ETRESENTATION OF LAG COMPENSATOR
The lag compensator has a pole at s=—1/BT anda
zero at s = —1/T. The pole-zero plot of lag compensator is
shown in fig 1.3. Here, B>1, so the zerd is located to the
left of the pole on the negative real axis, The general form
of lag compensator transfer functivn is given by equ (1.1). Fig e # Pole-zero plot of
lag compensator
. sz sth
Transfer function of lag compensator, G()= T
woe LT)
S+P. sx
ele:
Br
where, T > Oand B>1Advaneed Contre
Theory a
ee of ‘The zero of lag compensator, 7 =1/'T 1.2)
The pole of lag compensator, py = ‘i = 3)
(1.4)
From equ(1.2) we get, T= —
%
From equ(1.3) we get, B=
Pe
REALISATION OF LAG COMPENSATOR USING ELECTRICAL NE’ ‘WORK
The lag compensator can be realised by the R-C network shown in fig 1.4,
Let, E(s)= Input voltage
and E,(s) = Output voltage
In the network shown in fig 14, the input
voltage is applied to the series combination of R,,
R, and C. The output voltage is obtained across
series combination of R, and C.
Fig 14:
By voltage division rule, Electrical lag compensator
. (Ry + Ke) (SCR, +) /sC
E)= ES) Riek, +o BUS) Fer + Ry) Wisc
=E(6) (sCR, +1)
[scR, +R) +1]
ransfer function of the electrical network is the ratio of output voltage to
The
input voltage.
‘Transfer function EA) _ CR3(8+ Yen,)
of electrical network} E\(s) C(Ry FRIYS+ Kernen, ]
1.6)
wT)
- simaclSystem Design
On comparing equations (1.6) and (1.7) we get,
Ey) 1 (sep)
Ey) Grgh) + Shere, T= RC and B= (Ry ARR 1.8)
—__— —
|
|
The transfer function of RC network as given by equ( 1.8) is similar to the general
form with an attenuation of (1/B) (since B > 1, (1/B) 1). Ifthe de gain of the compensator is not desirable then it can be eliminated by a
suitable attenuation, Let us assume that the gain B is eliminated by a suitable attenuation
network, Now, G(jc) is given by
‘The sinusoidal transfer function shown in equ( 12) has two comer frequencies
and they are denoted as @,, and 0.
Here, @) =1/BT and We =1/T
Since, BT>T, 0.1
> 1 An 20 log P= 20108 ae arntAdv ‘ed Controf Theory —_——— 5 shown in fig 1.5. The h Odbupto ©,;,, Then it tis a straight line witha constant gain nitude plot of lag compensator i magnitude plot of Bode plot of GG) is a straight line through The approximate tv has a slope of -20 db of 20 log (1B). Leto= 2 dec upto oy and ater i ZG je) ant e@T = tan o BT o> 06 30 As oad 30 Approximate nitude plot $20 tog 1/0” IGGo 9 : indb 20 log (1B) -db 0°}. 26,60) nase]. /'. Phase-plot + -+ L 1 log © wT oT Fig 1.5 : Bode plot of lag @,) compensator ‘As @ is varied from 0 to ©, the phase angle decreases from 0 to a negative maximum value of 6, at © = @,, then increases from this maximum value to 0. The phase plot of lag compensator is shown in fig 1.5. It can be shown that the frequency at which maximum phase lag occurs is the geometric mean of the two corner frequencies. tii prt Typ From the bode plot of lag compensator , we observe that lag compensator has a de gain of unity while it offers a high fequeney gain of (1/8) {In decibels it is 20 log (1 By], Itmeans thatthe high frequency neise is attenuated in passing through the network id so. the signal to noise ratio is improved. A typical choice of B= 10. Frequency of maximum phase lag, © =J@q OaChapter 1 Linear Syste Design 4 The frequency «,, can be determined by differentiating 6 with respect to w and equating dé/de to zero as shown below. From equ(1.12) we get, Phase of G.(0), §= 2G,(jo)= tanto - tan“ oBT sn 114) On differentiating the equation (1.14) we get, a 1 ‘ een ge (1.13) do 14(@T) — 1+(opT)? 8 4 : 1 + A (ano) = When 0 = @,, dé/do = 0 [noe a Fl Hence, replace « by «,, in equ(1.15) and equate to zero. wo + —— = 1+ (mT) 1+(@,BTY TT _ opr 1+(@mT)? —-1+(@,8T)? On crossmultiplication we get, 1+(@phT? =f[0+ (0, pT=0 (BT) ~BlqT)? =B-1 Ho .T)B-)=G-0) of = sogwte TS TB Frequency corresponding to maximum phase lag, mq =1/TYB san (1.16) The maximum phase angle @, can be calculated from the knowledge of f§ and viceversa, The relations between 4” and B are derived below. From equ(|.14) we get, Go) = § = tan! oP ~ tan! @BT On taking tan on cither side we get, Note ; tan (A-B) tan A ~tan 1+ tan A tanl tan §=tan [tan @T — tan @BT] tan(tan!@T)—tan(tan wT) _ er opT = —tan(tan™ @T) = tan(tan” BT) _ _ . __oT(I-B) H+tan(tan oT). tan(tan" BT) T+02 Tp 14+ B(oT)?_ es Advanced Control Theory — =e D ote tans =p aT AL@= Om. 4 bo - 1 From equ (1.16) we get, ©m ==7y 8 TW 1.17) Maximum lag angle, m = ww Z| To find the value of B from 4, From the equ (1.17). it is evident that (1-B)and 2B are the two sides of right Je triangle as shown in fig 1.6. angled triangle. Hence construct aright ang With reference to figure 1.6, sind, =(1-B)/(1+B) sind, (1+B)=(1-B) c Ac=VBC? + AB? sing, *Psindg =1-B n/ |. “oper sind, +B=1—siny A _[nFaee B (indy +1) =1-siNb C7 aa -tesinés (1.18) Fle = [asp =0+8) Tiny J : RE FOR THE DESIGN OF LAG COMPENSATOR USING BODE PLOT PROCEDU: The following steps may be followed to design a lag compensator using bode plot and to be connected in series with transfer function of uncompensated system, G(s): 1: Choose the value of K in uncompensated system to meet the steady state error Step- requirement. Step-2 : Sketch the bode plot of uncompensated system. /R ix procedure 10 sketch bode plot). ystem. [Refer Appendix-I for the Determine the phase margin of the uncompensated system from the bode plot. Step-3: a If the phase margin does not satisfy the requirement then lag compensation is required.Step-4 2 Choose aw Chaptor 1 Linear Systom Dosiga Suitable value for the phase margin of the compensated system, 1 Let. yy = Desired phase margin as given in 5 and y, = ecifications, Phase margin of compensated system. Now, y, = y+ € Where © frequency. Additional phase lag to compensate for shift in gain crossover Choose an initial value of ¢ = 5°, Step-5 : Determine the new gain crossover frequency. Corresponding to a phase margin of y,on the bode plot of uncompensated system. Let, 6... = Phase of G(joo) at new gain erossover frequency, «,., Now, 7, = 180° + §,., (Ot) d= yy 180" The new gain crossover frequency, «,,, is given by the frequeney at which the phase of (jo) is 6,..- Step-6 : Determine the parameter, B of the compensator. The value of § is given by the magnitude of GG) at new gain crossover frequency, 9... Find the db gain (A,,,) at new gain crossover frequency, 0, en A gal 20 LA, =20log8 (or) SEY = tog Bh «B= 10% Now, A,., = 20log B (or) o-=log BB Step-7 : Determine the transfer function of lag compensator. Place the zero of the compensator arbitrarily at 1/10" of the new gain crossover frequency, ©, the | r 1 Pee . ensator, Ze = = OE ©. Zero of the lag compens: eo pee 10 Now, T= gen Pole of the lag compensator, p, = 1/BT Transfer function G.6)= st -s( l+sT of lag compensator!Advanced Control Theory Step-8 Determine the open loop transfer function ofcompenseted system. The Up lag compensator is connected inseries with the plant as shown in fig 1.7. Te of lag. compensated syste Block diagram When the lag compensator is inserted in series with the plant, the open loop . i ae a crate is aenpBifed by the factor (‘= B> 1) Ie gnin produce not required then attenuator with gain 1/B can be introduced in series with the lag compensator to nullify the gain produced by lag compensator The open loop transfer function of the compensated system, 1 1, (+sT) (its) G,(3) = 5).G(s) = =. Gs 08) porose Bree yo) GespT) (8) nsated system. Calcu the compensated transf the actual function Stop-9 + Determine the actual phase margin of compen phase angle of the compensated system using at new gain crossover frequency, O- Let, $5 = Phase of G,G0) a O= Oy « margin of the compensated system, 7, = 180° + 6. he given specification then the design is dure from step 4-to 10 by taking © as 5° Actual phas If the actual phase margin satisfies 1 accepted. Otherwise repeat the proce more than previous design. PROCEDURE FOR DESIGN OF LAG COMPENSATOR USING ROOT LOCUS “The following steps may be followed to design a lag compensator using root focus and to be connected in series with the transfer function of uncompensated system. Step-1: Draw the root locus of uncompensated system. [ Refer Appendix-I1 for the procedure to construct root locus]. termine the dominant pole, s,. Draw a straight line through the origin with an 1 with respect to negative real axis. The intersection point of the inant pole, s,. ‘Step-2: De angle cos” straight line with root locus gives the dor Let this 3 : Determine the open loop gain of the uncompensated system at s = Step: gain be K. The open loop gain K at s= s,on root locus is given by jg Ritidutiot vector lengths from sq to-epen loop poles Product of vector lengths from sy to open loop zeros (vector length should be measured to scale) . aaChapter 1 Linear System Design ‘Step-4 : Calculate the parameter, B of the compensator. lis Let K,, = Velocity error constant of uncompensated system. and K,,= Desired velocity error constant. K, wo = Lt sG(s) Let A be the factor by which the velocity error constant of the system has to be increased where, A= K JK, t 7 Choose B such that it is 10 to 20% greaterthan A. “B= (1.1 to 1.2) A. Determine the transfer function of lag compensator. The zero of the lag compensator (1/T) is chosen to be 10% of the second pole of uncompensated system. Zero of the compensator, z, = 0.1 x (second pole of G(s)) Now, T= I/[-0.1 x ( second pole of G(s))] Pole of the lag compensator, p, =-1/BT. "Transfer function of lag compensator ‘Step-6 : Determine the open loop transfer function of the compensated system. The lag compensator is connected in series with the plant as shown in fig 1.8 Fig 1.8 : Block diagram of lag compensated system Open loop transfer fuction of compensated system | G(8)=G,(s).G(s) = TT ee) BT Step-7 : Check whether the compensated system satisfies the steady state error requirement. If it is satisfied, then the design is accepted otherwise repeat the design by modifying the locations of poles and zeros of the compensator,Advanced Control theory for function, G(s) = K/s(1+2s). A unity feedback system has an open loop trans! 5 40° and the steady Design a suitable lag compensator so that phase margin ! state error for ramp input is less than or equal to 0.2. SOLUTION Step- Step-2: + Calculation of gain, K. Given that, e,, ¢ 0.2 for ramp input ; Let e,,= 0.2 We know that, e, = I/K, for ramp input *. Velocity error constant, Ky By definition of velocity error constant, Ky = Lt) s G(S)H(s). Since the system is unity feedback system, H(s) ae ‘5S 2 Ky= Tt 560)" Les a9 Bode plat of uncompensated system Given that, G(s) = 5/s(1#2s) Lets=jo, -.G(Qjw) = S/ja(1+j20), Magnitude plot ‘The corner frequency is, , = 1/2 = 0.5 rad/sec ‘The various terms of G(jo) are listed in table-1, Also the table shows the slope contributed by each term and the change in slope at the corner frequency. TABLE-1 Term Corner frequency | Slope Change in slope L rad/sec db/dec db/dec 5 = - ~20. - 20Chapter 1 Linear System Design e . 15, Choose a low frequency «, such that @, Determine the open loop transfer function of compensated system. The block diagram of the compensated system is shown in fig 1.1.2. The gain of the compensator ified by introducing an attenuator in series with the compensator, as shown in fig 1.1.2. Fig 1.1.2 : Block diagram of lag compensated system Open loop transfer funetion| (1, 10 (14208), 3 of compensated system O10 (1+ 200s) * s(1+2s) ___5(1+208) (1 +200s) (1+2s) Determine the actual phase margin of compensated system. 5(1+j200) ituti =joi t, jo) = —— On substituting s =o in G6) we vet G.G0)= Tsay FBO) Let,@, = Phase of G,(j@) and 4,,,= Phase of G,(0) at ©= @,,, J, = tan 200 ~ 90° tan! 2000 ~ tan! 20 At 0 = 0,545 = Ogg = (AN 20 6,4 ~ 90° = tan! 2000,,,— tan"! 2, pq = tan" (20 x 0.5) 90° — tan (200 x 0.5) — tan“! (2 x 0.5) =-140°. Actual phase margin of compensated system, Y = 180°+jcq = 180°-140°= 40° CONCLUSION ‘The actual phase margin of the compensated system satisfies the requirement. Hence the design is acceptable. RESULT ‘Transfer function of lag compensator, G,(s) = LOU +208) __(s+0.05) | (142008) ~ (s+ 0.005) Open loop transfer function of compensated system, G,(s) = 5 (1+20s) s (1+ 200s) (1+2s) oti sia dcaChapter 1 Linear System Design EXAMPLE 1.2 lie ‘The open loop transfer function of certain unity feedback control system is given by G(s) = K/s(s+4) (s+80). It is desired to have the phase margin to be atleast 33° and the velocity error constant K, = 30 see“, Design a phase lag series compensator, SOLUTION Step-1 > Calculation of gain, K Given that, K, = 30 sec! By definition of velocity error constant, K, = Lt G(s) His) Since the system is unity feedback system, H(s) = 1. wri” Kt te y= Eh SG)" hs Seay Gr BO)” ax 80 i Ke oK= ni hen Tagg e30 K=30:80%4 = 9600, Step-2 : Bode plot of uncompensated system Go = _2600___ 9600/4 x80 30 (5+ 4) (5480) 54S) (q4S) - 9{1+0:25s) (14 0.01258) 4 30 Let s=ja, .G§a) (1+ 50.250) (1+ j0.01250) Magnitude plot The comer frequencies are, «, = 1/0.25=4 rad/sec and @.,= 1/0.0125 =80 radisee. The various terms of G(ja) are listed in table-1. Also'the table shows the slope contributed by each term and the change in slope at the corner frequency. TABLE-1 2 Term [Corner frequency | Slope | Changein slope iad/see db/dee db/dec 30 = - 20. : jo N ed 1+ 70250 th} eg T+yool2sa| °* ~ Qoras Choose a low frequeney 0, such that w,0,9. Let @,= I rad/sec and «,=100 rad/sec.20 TABLE-2 o rad/sec 1 4 10 50 80 100 ate =104| -138]-165 ~-164 | -207 = -208 | -222 | -229 =-230 Advanced Control Theory Let A =|G(jo)] in db 0 log 32 = 295 ab =30db Ato=o,, A=20 log jo Ato= oq, A=20 log] =20 og 2-175 db =18 db Ato=0g, A -[nove from og, 10 2 * ie + Aaron) et 80 = -40 log=— +18 =-34 db Ato=o,. A = [sore from @,9 to 0 x tg 2 [+A 2 100 = -60 x log—— + (-34) =-40 db O85 +(-34) Let the points a, b, ¢ and d be the points corresponding to frequencies ®,, @,,and @,, respectively on the magnitude plot. Ina semilog graph sheet choose appropriate scales and fix the points a, b, ¢ and d. Join the points by straight Jines and mark the slope on the respective region. The magnitude plot is shown in fig 1.2.1. Phase Plot The phase angle of G(jo) as a function of @ is given by $= ZG(jo) =-90° - tan10.250 — tan“"0.01250 The phase angle of Gj) are calculated for various values of « and listed in table-2. On the same semilog sheet take another y-axis, choose appropriate scale and draw phase plot as shown in fig 1.2.1. Step-3: Determination of phase margin of uncompensated system. Let, 6,.= Phase of Gi) at gain crossover frequency (@,,). and y = Phase margin of uncompensated system.Chapter 1 Linear syswin Design Le yd pos PET Met 1 lease co % ItSvep4 Step $: Step-6 : Step-7: a From the fede pot af uncompensated systenn we Four that fy = 108 Now, y= 180" + 4, HO TORE © 12 1 of atheast 33°, but the available phase The system requires a phase margi : : ie tion should be employed to improve the margin is 12° and eo Ing compensa phase margin Choose a suitable value for the phase margin of compensated system The desired phase margin, 7, " Phase margin of compensated system, 7," %y* © Let initial choice of e = 5° 5 yy" yy + © = 33° + 8° = 38% Determine new gain crossover frequency. Leto, © New gnin crossover frequency and 4, " Phase of GGo) at ©, Now, 7," 180° + 6, og y= H8O? = 38° = 180° 142° From the bode plot we found that, the frequeney corresponding to a phase of ~142" is 4.7 rad/sec. ". New gain crossover frequency, «,., = 4.7 rad/sec. Determine the parameter, From the bode plot we found that, the db magnitude at, as 16 db, |G Gj) in db at (0 = 0.) = Ay, = 16 db Also, A= 20 log B 3. = 10° = 10167 = 6,3, Determine the transfer function of lag compensator. ‘The zero of the compensator is placed at a frequency one-tenth of a. en Zero of the lag compensator, % Now, T= 10 gen he ee ccs, AT" 63x23 * Tato Pole of the Ing compensator, Pe = 1 5 3 Transfer function Jovine List 4 cain s+ of lag compensator it eat” erericnChapter 1 Linear System Design ‘Step-8 : Determine the open loop transfer function of the compensated system. (23 The block diagram Papa a of the compensated $29] 116.3} 4} as bl airoasy Gr onras system is shown in fig 1.2.2. The gain of the compensator Fig 1.2.2 : Block diagram of lag compensated system is nullified by | introducing an attenuator in series with the compensator, as shown in fig 1.2.2. Open loop transfer function} ¢. 1 63 (142.138) 30 ‘of compensated system oe G3 (1# 134195)” {1+ 025s) (1+ 0.01258) - 30 (1+2.13s) 5 (1413.4195) (1-+0.25s) (1+ 0.01255) Step-9 : Determine the actual phase margin of compensated system. On substituting s = jw in G(s) we get, sccm 30 (1+ 2.130) oe) Fo (+ j13A190) (1+ 50.250) (+ j0.01250) Let 4, = Phase of G.(jo) and 6, = Phase of G,(ja) at @ = $, = tan! 2.130 ~ 90° — tan* 13.4190 = tan“! 0.25 — tan! 0.012500 At © = 0.49.5 eco = tan! 2.13 ,,, — 90° - tant 13.4190, — tan" 0.250, — tan"! 0.0125 Deen %eco = tan! (2.13 x 4.7) — 90° — tan“! (13.419 x 4.7) = tan"! (0.25 x 4.7) tans! (0.0125x4.7) = = 147°, Actual phase margin of compensated system, 7, = 180°)4., = 180°-147°= 33° CONCLUSION The actual phase margin of the com, Hence the design is acceptable. RESULT pensated system satisfies the requirement. Transfer function of lag compensator, G(s) = 22 (1 +2-13s) _ (s+0.469) (1¥134198) ~ (6+0074) ‘Transfer function of lag compensated system, 0) EA EESAdvanced Contro! Theory EXAMPLE 1.3 The forward path transfer function ofa certain eva iuasthe given by G(s) = K/s (s+2) (6 +8). Design a suitable lag compensator $9 Taf) system meets the following specifications. (i) Percentage overshoot $ 16% for unit step input, (ii) Steady state error $ 0.125 for unit ramp input. SOLUTION unity feedback control system is ‘Step-1 : Sketch the root locus of uncompensated system. To find poles of open loop system Given that, G(s) = K/s(s+2) (s+8) The poles of open loop transfer function are the roots of the equation, s(s+2) (s+8)=0. +. The poles are 0, 2, -8. To find root locus on real axis The segments of real axis between s=0 and s= 2 and the segment of real axis between s = -8 and s = ~ will be part of root locus. Because if we choose a test point in this segment then to the right of this point we have odd number of real poles and zeros. To find angles of asymptotes and centroid Since there are three poles, the number of root locus branches are three. There is no finite zero and so all the three root locus branches will meet the zeros at infinity. Hence the number of asymptotes required is three. £180°(2q +1) a-m Angles of asymptotes Heren =3 andm=0 +180° 3 = 260° «If q=0, Angles £180°(2+1) 3 .. Angles of asymptotes are +60°, — 60° and +180° Ifq=1, Angles 180° Sum of poles~Sum of zeros _ 0-2 Centroid = nom To find breakaway point K ion, (9). SS) 56268) .d loop transfer function, = SS) __s(s+2)(s+8) _ K Close Pp R@ TG)" |, OK "5(s72)@78) +k s(S*2)(s=8)Chapter 1 Linear System Design The characteristic equation is, s(s+2) (s+8) + a) 2K ==s(s#2) (#8) =-(s? + 108? + 168) On differentiating K with respect to s we get, dK/ds = -@s? + 20s +16) PutdK/ds=0, -.3s?+20s+16=0 WV. F -4x3x p= 204 N20" ~4%3%16 |g op 5:7, 2x3 0.9, K =-(s*+10s?+1 6s) = —((-0.9)' +10 (0.9)? +16(-0.9)) =7 5.7, K=-(s'+10s*+1 6s) = -((-5.7)' +10 (-5.7)? +16(—5.7)) = -48. Fors =-0.9, the value of K is positive and real and so it is actual breakaway point, To find crossing point on imaginary axis The characteristic equation is, s(s+2)(s+8)+K=0 s#+10s?+ 16s+ K =0 Put s=jo (j@)'+ 10Go)?+16G@)+K = 0 ~jo'~ 100+ j160+K = 0 On equating imaginary part to zero we get, Stas? -jo'+j160=0 -jo? = -jl6a a? = 16 o=4Vi6=44 , Hence the root locus crosses the imaginary axis at +j4 and —j4. The complete root locus sketch is shown in fig 1.3.] Step 2: Determine the dominant pole s,. Given that, %M, =16% efi ‘We know that, %M, =e nee=0.1 and BT=10 pr ane B Transfer function of ste lag compensator sol BT Step-6 : Determine the open Joop transfer function of compensated system. The block diagram of lag compensated system is shown in fig 1.4.2and in this, the lag compensator is connected in series with G(s). 240 5 (s+10)? Fig 1.4.2 : Block diagram of lag compensated system Open loop transfer function gy (Stl) 2402400841) of compensated system on (#01) S410)? 54 10)? (§+0.1) ‘Step-7 : Check K, of compensated system Velocity error constant’ ay Ky = Lt sG,(6) of compensated system| 0 . 240 +1) 240 “anon le Sar 290 s(5+10)" (FOI) 10? x0l CONCLUSION Since the velocity error constant of the compensated system is greater than the desired value, the design is accepted, RESULT ‘Transfer function of 6.8) (+1) ‘ 3) = 4) lag compensator © (s+ 01) 7 9. — 240 (s+1) s(s+10¥ +01) Open loop transfer function ro of lag compensated system a & 33 1 =iit of Theory he 1.3_LEAD COMPENSATOR A compensator having the characteristics of a lead network is called a lead sompensator. Ifa sinusoidal signal is applied to the lead network, then in steady state the output will have a phase lead with respect to the input. The lead compensation increases the bandwidth, which improves the speed of response and also reduces the amouint of overshoot. Lead compensation appreciably improves the transient response, whereas there is a small change in steady state accuracy. Generally, lead compensation is provided to make an unstable system as a stable system. ‘A lead compensator is basically a high pass filter and so it amplifies high frequency ignals. If the pole introduced by the compensator is not cancelled by a zero in the em, then lead compensation increases the order of the system by one. S-PLANE REPRESENTATION OF LEAD COMPENSATOR jo ‘The lead compensator has a zero at s = —1/T and a pole at s = —I/aT, The pole-zero plot of lead compensator is shown in fig 1.9. Here, o 0 and « "oT Since. T>aT, 0 >1 and @aT >1 and @aT >> 1 Yor? i OD = 2010 oan? Ax 20log (oat? ‘The approximate magnitude plot of lead compensator is shown in fig 1.11. The magnitude plot of Bode plot of G,(jo) isa straight line through 0 db upto @,,, then it has a slope of +20 db/decade upto «,, and after «,, it isa straight line with a constant gain of 20 log (1/c:). Let $= 2G,(jo) . eebstantoTstantoeT a (1.32) Aso>0, $30 Asa>o, $30 Approximate __ magnitude plot +db 1G,Ge| indb 0 Fig 1. : Bode plot of lead compensator ease]. 26,0) o| ®, 0, 0, 1c? loge T Wa otAdvanced Control Theory __ 3] A\s @ is varied from 0 too, the phase angle increases from 0 to a maximum value of, at @ =, then decreases from this maximum value to 0. It can be shown that the frequency at which maximum phase lead occurs is the geometric mean of the two corner frequencies, Frequency of maximum phase lead, ©, = q-@g = oe . a at Ta The choice ofa. is governed by the inherent noise in control systems. From the Bode plot of the lead network, we observe that the high frequency noise signals are amplified by a factor 1/a., while the low frequency control signals undergo unit amplification. Thus the signal/noise ratio at the output of the lead compensator is poorer than at its input. To prevent the signal/noise ratio at the output from deteriorating excessively, it is recommended that the value of a should not be lessthan 0.07. A typical choice of c = 0.1. Also it is advisable to provide two cascaded lead networks when @,, required (i.e., phase lead required) is more than 60°. Determination of ©,, 4, and o& The frequency w,, can be determined by differentiating 6 with respect to w and equating d6/da to zero. From equ (1.32) we get, 132) Phase of G.Go), 6= 2G, (jo) = tan oT- tan! aoT On differentiating the equation (1.32) with respect to w and equating dg/de to wwe get the frequency corresponding to maximum phase lead as, «, = 1/T Jer - 1 Frequency corresponding to maximum phase lead, © == T= zero, ‘Also we can express @,, in terms of a and a. in terms of $,, as shown below. (Note : The equations (1.33), (1.34) and (1.35) can be derived by a similar analysis shown in section 1.2 for lag compensator affer replacing fi by’ a).PROCEDURE FOR f GN OF 1 AD COMPENSATOR USING BODE PLOT The following steps ma be followed to design a lead compensator using bode plot and to be connected in series with transfer function of uncompensated system, Gis). Step-1 : The open loop gain K of the given system is determined to satisfy the requirement of the error constant. Step-2 : The bode plot is drawn for the uncompensated s\ determined from the previous step. (Refer Appendiv: bode plot). stem using the value of K. -Lfor the procedure to sketch Step-3 : The phase margin of the uncompensated system is determined from the bode plot. ‘Step-4 : Determine the amount of phase angle to be contributed by the lead network by using the formula given below, m= Maximum phase lead angle of the lead compensator yg = Desired phase margin Y= Phase margin of the uncompensated system = Additional phase lead to compensate for shift in gain crossover frequency Choose an initial choice of € as 5° (Note : If 2, is more than 60° then realize the compensator as cascade of two lead compensator with each compensator contributing half of the required angle) ‘Step-5 : Determine the transfer function of lead compensator - Calculate & using the equation, From the bode plot, determine the frequency at which the magnitude of Gio) is -20 log I/ Ja db. This frequency is « ‘alculate T from the relation, «44 =—y= aleulate T from the relation, = == aaa a(list) ‘Transfer function a 56 : (Least) lead compensatorAdvanced Control Theory Step-6 : Determine the open loop transfer function of compensated system. The lag compensator is connected in series with G(s) as shown in fig 1.12. When the lead network is inserted in series with the plant, the open loop gain of Fig Lia: Block diagram of lead the system is attenuated by the compensated system factora| e,,. Let «,=0.1 rad/sec and 0,=10 rad/see =|G(jo) in dd Letus calculate A at@,,0_,ando,. Let A [13] At@=@; =O rd/sec, A=201o; 20 log AS =435 db = 44 db ‘jel ol At@=0@, =Irad/sec, A=20 wel At@=@y =10 rad/sec, xs from @4 10 ©, wots] Ao j Oy _ 23.5 db = 24 db =—40 x logins 16 db Let the points a, band ¢ be the points corresponding to frequencies ©), 0,,.and ©, respectively on the magnitude plot. In a semilog graph sheet choose appropriate seales. and fix the points a, b and c. Join the points by straight lines and mark the slope on the respective region. The magnitude plot is shown in fig 1.5.2.ave eee OY 1 TReOn S40 phase Plot The phase angle of Gerd asa timiction ofr is given by’ 8% AGG) = 80" — tates cote an! liste in tables? arionis valties The phasoangle of Gijon) are calculated for 10 =1s3 | -160 | =174 xis, choose appropriate scale and ‘On the same semilog sheet take another y draw: phase plot as shown in fig LS.2. rgin of uncompensated system, Step-3 : Determine the phase m Let, 8. = Phase of G(jeo) at gain crossover frequency (@,.). and y= se margin of uncompensated system, From the bode plot of uncompensated system we get, 6, = “167°, 45°, but the available phase margt Id be employed to improve the phase margin. The system requires a phase 13° and so lead compensation shou! Step-4 + Find @ The desired phase margin, y, 2 45° Let additional phase lead required, € Maximum lead angle, 6, = y,— y+ € 45° 13° + 5° = 37° Step-5 Determine the transfer function of lead compensator. losing _ 1sin37* _ g24g6 = 025 sing, 1+sim. ‘The db magnitude corresponding £0 ©,Step-6: Step-7 : Chapter 1 Linear System Design From the bode plot of uncompensated system the frequency «, corresponding toa db gain of -6 db is found to be 5.6 rad/sec, 0,,. Let, 0.1 rad/see and «50 rad/see Let Ay =|Go(jo)} in ab Is Mom, #04 rud/sec, Ay 2a 15 = 20 log 57 = 435 db~ 44 db ALO > Wey 1 rad / see, y= 20 = 23.5 db ~24 db Mow «24 rad (sec, Ay =f fiom 0,4 10 ¢9 * ieee ].(@ st ) Og] \O=Oy} 2, = 407 log? 4.24 =6 db © ain at ALO MM rad sec, Ag © [sn fiom 04 a9 tg2a](8 } o=o, 50 (ji) Phase margin is > 20°, SOLUTION Step-1 : DetermineK Given that, K, 250, Let K,=50 By definition of velocity error constant, K, we get, K K G(s)= Lt s—*>__=4 Esse) 590 SFI) GF) 5 J K=SxK, =5x50=250, ‘Step-2 : Draw bode plot ‘ , K 250 hat, G(s) = ——K___250_ Stren thes: ae) S(6+1) #5) S(t) (45) _ 250 _ 50 s(I+s)x5x (148/95) s(1+5) (140. 50 Let s =ja, * G(jo) “jo (iF jo) (¥J020) Magnitude plot ‘The comer frequency are, w,,= 1 rad/sec and @,= 1/0.2= 5 radisec, The various terms of G(ja) are listed in table-1. Also the table shows the slope contributed by each term and the change in slope at the corner frequencies. TABLE-1 ‘Term | Corner frequeney | Slope] Change in slope rad/see db/dee db/dec 20. = SY 40. 21 10 ~ 4020 =~6 {40Advanced Control Theory Choose a low frequency «, such that @,0,). Let @,= 0.5 rad/sec and o,=10 rad/see Let A =|G(jo)| in db At@=o,, A=20 log) 0 log 22 = 40 ab [5 At@=0,,, A=20log>2| =20 log =34 db al At@=05, A -[ from @¢) to @,9 x log 28 |e haan j s @ey - =-40x log? +34 =6 db At@=Oy, A = nove from 0.9 to ©) x 162] Aan ) Me * =~ 60% log i246 = 12 db Let the points a, b, c and d be the points corresponding to frequencies OO 49 4, and @, respectively on the magnitude plot. In a semilog graph sheet choose appropriate scales and fix the points a, b, ¢ and d. Join the points by straight lines and mark the slope on the respective region, The magnitude plot is shown in fig 1.6.2. Phase Plot The phase angle of G(ja) as a function of w is given by $= ZG(ja) = -90° - tan“ o — tan'0.20 ‘The phase angle of G(jo) are calculated for various values of w and listed in table-2. TABLE-2 adisee |! | 05 | 10} 5 | a0 ‘ if -96 | -122 | -146 | -214 | -238 On the same semilog sheet take another y-axis, choose appropriate scale and draw phase plot as shown in fig 1.6.2.___ Chapter 1_Linear System Design © margin of G(jw) at gain crossover frequency. and y = Phase margin of uncompensated system. From the bode plot of uncompensated system we get, ¢,, =—224°. Now, y= 180° +g), = 180° — 224° = 44° ise Margi of the sys The pha m is negative and so the system is unstable. Hence lead compensation is required to make the system stable and to have a phase margin of 20°, Find ¢,, ‘The desired phase margin, 7,2 20° Let additional phase lead required, ¢ = 5° Maximum lead angle, 6, yt @ = 20° - (44°) + 5° = 69" Since the lead angle required is greaterthan 60°, we have to realise the lead compensator as cascade of two lead compensators with each compensator providing half of the required phase lead angle. bm & oS a34s° > Step-5 : Determine the transfer function of lead compensator © 148i, 1 1 ‘The db magnitude corresponding f0 0, =~20 log = =-20 los = From the bode plot of uncompensated system the frequency, «corresponding toa db gain of -5.5 db is found to be 7.8 rad/sec. 8 rad/sec. tranefer fanetion of Transfer function | geek the lead compensator} +0.28 x 0.248) 51Advanced Control Theory $21" Step-6 : Open loop transfer function of compensated system. The block diagram of the fon Gael _ $0 Froos? |x #9) F025 compensated system is shown in fig 1.6.1. Fig 1.6.1 : Block diagram of lead compensated system The attenuation provided by the compensator can be retained to reduce the large value of open . 5 loop gain, so that the unstable system can be easily brought to stable region, Open Toop transfer function] a7e4(1+0245)° | 50 of compensated system 000678)?” s (#8) (1025) . 4 (1+0.24s)? “S09 (1402s) (140.0678? ‘Step-7 : Draw the bode plot of compensated system to verify the design. ; 2 Puts jo in Go(S), ::Go(jo)=—__4 (1+ 0.24a)* _ - Jo (1+ ja) (1+ j0.20) (1+ j0.0670) Magnitude plot The comer frequencies are@,,, 04,0, anda, 1 . 1 1 @y=13 OQ= 77 =42 3 Wy= Hs, g- a 1 «, »,, and choose a high frequ rad/see and @,= 30 rad/sec Let Ay = [Go(io)) in db 4 4 = 20 log —=18 db a ° 05 I+ | = 20 tog =12 ab io Hi ALO=0), Ag =20 logl Ato=a, + Ao =20 log| At@=0Q, Ag -| ire from 0-4 0 Wp x wate], at (o = 0) et = 40x tog? +12 =-13 db Dea - ALO=0,5, Ag =| spe from 2 to 3 x (ee +Ag at (0 = 0.) = 0x log 5+ (-13)=-13 ab Pca - At@=O4, Ao -| sive from ©, 10 04 woe Ag at(o=0,5) = -20 tog “2 + (-13) =-225 db ~ -23 db Oy “ —* | + Ag at (= 0,4) Ato=Oy, A=[sore fom ou too xue2*] 0 30 = 60x logs e+ (-23)=-41 db iand j f ding to frequencies 0, i dj be the points correspon: } Let the pins © ee respectively on the magnitude plot of compensated oe nitude plot of compensated system is desi onthe same rie ee by using the same scales as shown in fig 1.6.2. semilog gr O43 Phase Plot i is given by C j@) as a function of w is given by areal — tanr!0,20 ~ 2tan-"0.0670. «oy = Dtanel 90° — tan by ZGGjo) = 2tan"0.240 ious listed in table - 4. £G,() are calculated for various values of and liste ‘The phase angle of Gywe fos = (ODD fo 10rd apog = e°9°1 Ht 2 aes == =| a 7 2 “gt = ae ee a SSI = | = = “Ss 4 Chapter 1 Linear System Design TABLES 55 o rad/see JON} 05 | 1.0} 20 | 5 10 15 46,() deg 1-94 | -112. -150 | -170 In the same semilog sheet and by using the same scales, the phase plot of compensated system is sketched as shown in fig 1.6.2. Let, 6.9 = Phase of G,(jo) at new gain crossover frequency (o,.,). and y, = Phase margin of compensated system. From the bode plot of compensated system we get, 6, =~ 140°, Now, yp = 180° + %sc0 = 180° -140° = 40° CONCLUSION ‘The phase margin of the compensated system is satisfactory, Hence the design is acceptable, RESULT . 0.0784 (1+0.24s)?__(s#4.17) (s+14.92)? * The transfer function) of lead compensator J * 4 (1+0.24s)? © 8 (1s) (1+0.2s) (1+ 0.0678)" Open loop transfer function of lead compensated system| EXAMPLE 1.7 Consider a unity feedback system with open loop transfer function, G(s) = K/ s(s#8). Design a lead compensator to meet the following specifications. (i) Percentage peak overshoot = 9.5%. (ii) Natural frequency of oscillation, «, = 12 rad/sec. (iii) Velocity error constant, K, 2 10, ©, Le SOLUTION ¥ 7 v Step-1 : Determine the dominant pole, s,. Dominant pole, 54 = fio, +jtyyl—@ » Given that, o, = 12 rad/see and %M, = 9.5%. MIE 199 2 go v BR We know that, %M,,Advanced Control Theory 56 On taking natural log we get, -Gr/J1-¢? = dn (0.095) Cn? 2: On squaring we get, + oo (in 0,098) = 5.54, C2n? = 554-5540? On? +5540? = 554 O(n? +554) =554 Sq = —(0.6 x12) + jl2x ¥1-0.6? = ‘Step-2 : Draw the pole-zero plot The pole-zero plot of open loop transfer function is shown fig 1.7.1. Poles represented by the symbol "x", The pole at point P is the dominant pole, ‘Step-3 : To find the angle to be contributed by lead network, Let $= Angle to be contributed by lead network to make point, P as a point on root locus. sum ofangles sum of angles Now, 6=| contributed by poles |-| contributed by zeros [+ n180° of uncompensated system) | of uncompensated system From fig 1.7.1, we get, ‘Sum of angles contributed = 0, +05 =127°485°= 212° brpokset mcomeeaned seen} 8) 405 =127YES= 21 Since there is no finite zero in uncompensated system, there is no angle contribution by zeros. = 212° +n 180° Let n=1, 4g =212°- 180° = 32°, Step-4 : To find the pole and zero of the compensator Draw a line AP parallel to x-axis as shown i 1.7.1. The bisector PC is drawn to bisect the angle APO, The angles CPI) and BPC are constructed as shown in fig 1.7.1. Here CPD = ZBPC = d/2 = 32°/2 = 16°.Chapter 1 Linear System Design ig 1.7.1. : Pole ze| 38) ‘Step-6 : Determine the open loop Advanced Control! Theory From fig | Pole of the compen: Zero 0} We know that, We know tha Transie er fietion of @= lead compensator | 7S" transfer function of lead compensated system. The block diagram of k compensated system shown in fig 1 Open loop transfer function) | of lead compensated system) © Here the value of K is given by the value of gain at the dominant poles, onthe root locus. From magnitude condition K K = Product of vector lengths from all poles to s Product of vector lengths from all zeros to's From fig 1.7.1. we get. \Step-7 : Check for error requirement Forthe compensated system. the velocity error constant is given by 150(8+9.1) = Lt sGy(@9= Ly s SEA) “so §(6+8) (8+16.25) 10s2 Chapter 1_Linear System Design ince the velocity error constant of the compensated system, satisfies the requirement, the design is acceptable. SULT lead compensator ‘s+1625) "(1 +0.06s) Transfer function “| G.(s)= (s+9.) (1+0.11s) 150 (89.1) 105 (1+6.1 1s) 8) = 5 (48) (416.25) s(1¥0.1258) (1+ 0.065) Transfer function of lead compensated system of MPLE, Design a lead compensator for a unity feedback system with open loop transfer function G(s)= K/s (+4) (s +7) to meet the following specifications. (i) % Peak overshoot = 12.63%. (ii) Natural frequency of oscillation, «, = 8 rad/see. (ii) Velocity error constant, K,2.5. ; SOLUTION Step-1: Determine the dominant pole, 5, Dominant pole, sy =-C®,tj0,y1-C > Given that, @, =8 rad/see and %M, = 12.63%. We know that, %M, =e NE x 100 Sali-S 0.1263 On taking natural log we get, —Cr/y1 -C? = In (0.1263) 2,2 On squaring we get, a = (in 0.1263)? =428. On? 2428-4280 or 44.280? = 4.28 ew +4,28) =4.28 (055 x8) + j8x V1- 0557 j6.68 SION 59Advanced Control Theory eee!) Step-2: Step-3 : Step-4 : Step-5* Draw the pole-zero plot ‘The pole-zero plot of open loop transfer function is shown fig 1.8.1. Poles are represented by the symbol he pole at point P is the dominant pole, s,, To find the angle to be contributed by lead network. Let = Angle to be contributed by lead network to make point, P as a point on root locus. sum of angles sum of angles Now, $=] contributed by poles |-| contributed by zeros | n180° of uncompensated system) | of uncompensated system From fig 1.8.1, we get, Sum of angles contributed } =6)+0) 48) aera aEe by poles of uncompensated system Since there is no finite zero in uncompensated system, there is no angle contribution by zeros. 9 = 285° + n180° 1.9 = 285° — 180° = 105°, Since the angle contribution is more than 60°, the lead compensator is realised as cascade of two compensators with each compensator, contributing half of the required angle. 1.9 = 105/2 = 52,5° = 52° To find the poles and zeros of the compensator Draw aline AP parallel to x-axis as shown in fig 1.8.1. The bisector PC is drawn to bisect the angle APO. The angles CPD and BPC are constructed as shown in fig 1.8.1. Here ZCPD = ZBPC = /2 = 52°/2 = 26°, From fig 1.8.1. Pole of the compensator, p, = -13.55 Zero of the compensator, z, = —4.65 We know that,z,=-I/T T= 1/4.65=0.215 We know that, p.=-VorT aT = 1/13.55 (or) = WT x 13.55 = 0.343, Determine the transfer function of lead compensator (s+4.65)? (s+1355)? Transfer function “| Get lead compensatorChapter 1 Linear System Design zero plot of lead compesated systerm.Advanced Control Theory — Sepe6 : Determine the open loop transfer function of lead compensated system, (44. 05)" (9 13.55) The block diagram of lead 2: Black dlagram of lead compensated sysrent Open loop trans 14.65)? “ K 155)? s(s-h4) (S47) of lend compensated s Here the value of K is given by the value of root locus. From magnitude condition K is given by, in at the dominant pole, s, on the From fig 1.8.1, we get, xb KN xy BIXGK*73%2* ILS 2 : 2675 = 685 685 (8:4-4.65)" s(s44) (84-7) (6+13,55)° Step-7 + Check for error requirement Gols) For the compensated system, the velocity error constant is given by, K,= Ll sG(s)= Ls —— GES 44.65)" ___ 6854.65" _ agp sO s(8+4) (S47) (8413.55) dx 7x 1355" GONGLUSION ince the velocity ¢rror const requirement, the design is nt of the compensated aye, satisfies the ‘eptable, RESULT ‘Transfer fiction “| . = 0.1178 (140.2155)? lead compensator Gus 3557" Pe canaapt .07 385) ‘Transfer function of Gols) = 885 (644,65)? lead compensated system, s BH) Grae “Taaaaeee tats? _, (10.255) (140.1435) ¢140.07385)"L Chapter 1 Linear System Design 1.4 LAG-LEAD COMPENSATOR A compensator ha he characteristics of lag: compensator. Ina lag-lead network when sinusoidal signal is phase lead occurs in the output, bul in different frequency revions. Phase lay, occurs in the low frequency region and phase lead occurs in the high frequency region (i.€) the phase angle varies from fay to lead as the frequency is increased from zero to infinity. ipplied, both phase lag and A lead compensator basically increases bandwidth and speets up the response and decreases the maximum overshoot in the step response. Lag compensation increases the Jow frequency gain and thus improves the steady state accuracy of the system, butreduces the speed of responses due to reduced bandwidth, Iimprovements in both transient and steady state response are desired, then both a Jead compensator and lagcompensator may be used simultancously, rather than introducing both a lead and lag compensator as separate elements. However it is economical to use a single lag-lead compensator. A lag-lead compensation combines the advantages of lag and lead compensations. Lag-lead compensator possess two poles and two zeros and so such a compensation increases the order of the system by two, unless cancellation of poles and zeros occurs in the compensated system, jo §-PLANE REPRESENTATION OF LAG-LEAD COMPENSATOR The s-plane representation of lag-lead compensator is shown in fig 1.15. The lag section has one real pole and one real zero with pole to the right of zero. The lead section also has one real pole and one real zero but the zero is tothe right of the pole. Fig 1.15 : Pole-zero plot of tag-lead compensator G+YT) (6+) sv WPT) (8+ 1/aT,) ee) ees, Tagecetion lead section Transfer function of Jag - lead compensator where B> Land 0 You might also like
