Necessary of Compensation

In order to obtain the desired performance of the system, we use compensating networks.
Compensating networks are applied to the system in the form of feed forward path gain
adjustment.
Compensate a unstable system to make it stable.
A compensating network is used to minimize overshoot.
These compensating networks increase the steady state accuracy of the system. An
important point to be noted here is that the increase in the steady state accuracy brings
instability to the system.
Compensating networks also introduces poles and zeros in the system thereby causes
changes in the transfer function of the system. Due to this, performance specifications of
the system change.
Effects of Lead Compensator
Lead compensator adds a dominant pole and zero. This increases the damping of the
closed loop system.
This increased damping means less overshoot, less rise time, less settling time. Thus there
is an improvement in transient response.
It improves phase margin of the closed loop system
It increases bandwidth of the closed loop system. More bandwidth faster is the response.
Steady state error doesnt get affected
Limitations of Lead compensation
Maximum lead angle available from a lead network is 60
o
.Thus if a lead of 70 to 90 is
required multiple lead compensators are required.
Lead compensation requires additional gain to offset the attenuation in lead network.
More bandwidth sometimes makes the system susceptible to noise
Effects of Lag Compensator
It improves steady state performance.
The attenuation due to lag compensator shifts the gain crossover frequency to a lower
frequency point. Thus bandwidth of the system gets reduced.
The system becomes more sensitive to parameter variations
This makes system less stable
Reduced bandwidth means slower response
Effects of Lag-Lead Compensator
Lag lead compensator is used when both fast response and good accuracy is required
Increases low frequency gain which improves the steady state
It increases bandwidth and thereby speed of response
Since it has larger bandwidth settling and rise time are low
MODULE 5
Drawbacks of transfer function
Transfer function defined under zero initial conditions
Only applicable to LTI system
Restricted to single input single output system
Doesnt provide any information regarding internal state of the system
Advantages of state variable analysis
Applicable to any type of system
Can be applied to MIMO systems
Properties of state transition matrix ((t)=

)
(t)=

,then (0)=

=I

-1
(t)=

= (-t)
(t
1
+t
2
) = (t
1
)* (t
2
)

= (t
1
)* (t
2
)
(t
1-
t
2
)* (t
2-
t
3
) = (t
1-
t
3
)

= (t
1-
t
3
)

Characteristics equation

Asymptotically stable system
A system which produces zero output for zero input irrespective of initial conditions.
An asymptotically stable system is also BIBO stable, but not vice versa
No. BIBO Asymptotically stable
1 Zero state stabilty Zero input stability
2 External stability Internal stability
3 All poles of G(s) on Left
Half Plane
All eigen values of A are in
LHP
4 Bounded output for
bounded input
Output=0 for zero input
5 Necessary and sufficient
condition
Impulse response should
be bounded
All eigen values of A are in
LHP