Compensator Design

Tutorial Set - 6
 Problem - 2
The unity feedback system with forward path TF
K (s + 5)
G(s) =
(s + 2)(s + 6)(s + 10)
is operating with 20% overshoot.
a. Find the settling time.
b. Find Kp.
c. Find the phase margin and the gain crossover
frequency.
d. Using frequency response techniques, design a
compensator that will yield a threefold improvement in
Kp and a twofold reduction in settling time while
keeping the overshoot at 20%.
 Solution: part (a)
For 20% overshoot the damping ratio is calculated as


exp = 0.2
2
1
= 0.456
From root locus plot
we get the roots which ensure
Damping ratio of 0.456.
At K=178.21 we get
s = 6.544 j 12.771
n = 6.544 4 n = 0.611
 Solution: part (b)
The static error constant
Kp=(178.215)/120=7.425
Solution: part (c) Phase Margin is
55.8 and gain
crossover
frequency is 11.3
rad/sec.
 Solution: part (d), section 1
Compensator is to be
designed that will yield
a threefold
improvement in Kp.
Hence K is increased 3
times, i.e.,
178.21*3=534.63
The phase margin for
this gain adjusted
system is 32.2 at the
gain crossover
frequency 21.9
rad/sec.
 Solution: part (d) , section-2
However, for the same damping ratio phase
margin should be calculated as

1 2
M = tan
2 + 1 + 4 4
= 0.456
M = 48.15
Hence we need a phase lead of (48.15
32.2=20.95 ) at 21.9 rad/sec, hence, a Lead
Compensator
Let us consider the compensator transfer
function as
 Solution: part (d) , section-3
1
1 s + T1
GC ( s ) =

, < 1 sin (M ) =
s + 1T 1+

= 0.473
Maximum phase occurs at geometric mean of the
two corner frequency. At this frequency the gain
of the compensator becomes.
1

= 1.453 = 3.249 dB
From the plot of gain compensated bode plot we
get 3.249 dB gain at 26.9 rad/sec.
Hence, T 1 = 26.9 T = 0.054
 Solution: part (d) , section-4
The transfer function of the compensated system
becomes
s + 18.5
GC ( s ) = 2.11
s + 39.1
The closed loop
system response
is also provided
Solution: part (d) , section-5
 Problem - 3
Given a unity feedback system with
K
G ( s) =
s(s + 2 )(s + 5)
Design a PID controller to yield zero steady-
state error for a ramp input, as well as a 20%
overshoot, and a peak time less than 2
seconds for a step input. Use only frequency
response methods.
 Solution - 1
Given that peak time =2 seconds and = 0.456
(i.e. for 20% overshoot)
Expression of peak time:

tp =
n 1 2

= 2 n = 1.765
n 1 0.456 2
Solution 2:Bode diagrams for K = 1
 Solution - 3
The phase margin corresponding = 0.456 is 48.15
The phase of the system for this phase margin is
131.85 t 1.12 rad/sec.
Magnitude at this point is -22.38 dB. For the desired
phase margin this gain is to be neutralized.
Hence,
20 log K =22.38 13.1
G ( s) =
Hence, K=13.1 s(s + 2 )(s + 5)
 Solution 4: PI Controller
s+z s + 0.097
GC PI = K PI GC PI = 0.8383
s s
Allowing a 5 additional phase we consider the phase
margin . The phase of the system is -126.85 at
frequency 0.97 rad/sec. Magnitude at this frequency is
1.5321 dB.
The controller should contribute - 1.5321 dB so that
the magnitude curve passes through 0 dB at = 0.97
rad/s.
We consider the controller corner frequency at 1
decade lower than this frequency. The gain of the
controller is 20 log K=-1.5, or, K=0.8383. Hence the PI
controller becomes
 Solution 5: PI Controller
s + 0.097
GC PI = 0.8383
s

For, system with PI controller the gain cross

over frequency is at 0.97 rad/sec with a phase
margin 47.3. Never the less, this controller
makes the system sluggish and cannot ensure
peak time at 2 second.
Solution 5: PI Controller
 Solution 5: PID Controller
To improve the speed of the response let us
consider the gain cross over frequency at 4
rad/sec. (peak time within 2sec, which
indicates freq > 3.14 rad/sec)
At this point phase is -194. To obtain the
phase of 131.85 for the specified phase
margin a phase lead of 62 is necessary.
 Solution 6: PID Controller
Assume the structure of the compensator
GC PD = K PD (s + z D )


1

tan = 62 z D = 2.11
zD
Gain at 4 rad/sec is -20 dB. This gain should be
brought to 0 dB by the gain of the PD
controller. 20 log( K PD ) + 20 log( 42 + 2.112 ) = 20 K PD = 2.2
GC ( s ) = 2.2(s + 2.11)
PD
 Solution 7: PID Controller
The step
response of the
compensated
system is given
below which
assures 20%
peak overshoot
and peak time
less than 2 sec.
GC PID ( s ) = GC PD ( s )GC PI ( s )
1.8526(s + 2.11)(s + 0.097 )
GC PID ( s ) =
s
 Problem - 4
Design a PID controller for the system
K
G ( s) =
s(s + 2 )(s + 5)
using Ziegler Nicholss method. The controller
should match the structure of
(
GC PID ( s ) = K p 1 + T1i s + Td s )
 Solution - 1
The characteristic equation for this system becomes
s(s + 2 )(s + 5) + K = 0
s 3 + 7 s 2 + 10 s + K = 0
The Routh arry for this equation is given below :
s3 : 1 10
s2 : 7 K
70 K
s : 7
0
1: K

From the Routh array it can be found that systain

oscillation occurs when K=70. Then the auxiliary
equation becomes 7 s 2 + 70 = 0 s = j 10
.
Solution - 2
Hence the critical gain K cr = 70
The period of sustained oscillation forcr = 10
2 2
Pcr = = = 1.9869 sec
cr 10
G
To design a controller C PID ( s ) = K p 1 + 1
Ti s
+ Td s( )
we use the Ziegler Nichols rules for tuning
Type of the Controller Kp Ti Td

P 0.5 Kcr 0
PI 0.45 Kcr (1/1.2) Pcr 0
PID 0.6 Kcr 0.5 Pcr 0.125 Pcr
 Solution - 3
For the PID controller Kp=42, Ti=0.9935,
Td=0.2484
Hence,
GC PID ( s) = 42(1 + 0.99
1
s
+ 0.248s )
0.246 s 2 + 0.99 s + 1
GC PID ( s ) = 42.27
s
 Solution - 3
The step response of the compensated system
is given below:
 Solution - 4
So it is observed from the step response of the
compensated system that the peak response
is at 1.19 sec with a percentage overshoot of
60%.
The undesired overshoot can be reduced by
fine tuning the controller parameters. Such
fine tuning can be made with the help of
computer simulation.
 Solution - 5
High value of overshoot indicates a low phase
margin. Therefore, increasing Td we may
produce a phase lead and thus an improved
phase margin may be obtained.
We choose Td=0.5. Thus the step response of
the compensated system becomes acceptable.
Solution - 6
 Problem - 5

G(s)

A pitch axis attitude control system utilizing a momentum wheel is the

subject of this Problem. For this problem, we want to design a lag-lead
compensator to improve both transient and steady-state error performance.
The block diagram for the pitch axis attitude control is shown in the Figure 5,
where is the commanded pitch angle and is the actual pitch angle of the
spacecraft. If seconds and = 963l in-lb-s2, design the compensator with the
following specification:
percentage overshoot <=20%
settling time<=20 sec
velocity error constant=200
 Solution - 1
The forward path transfer function can be written as
1 1 1
G (s) = =
Iz

I z s 2 1 + 1 s 1 s(s + 1)
4.514 10 6
G (s) =
s(s + 0.0435)
In the forward path if we separate the compensatorGC (s)
the transfer function G(s) is modified as
K 4.514 106
G (s) =
s (s + 0.0435)
 Solution - 2
Given that the velocity error constant is 200.
K 4.514 106
= 200
(0 + 0.0435)
K = 1927337
The desired percentage overshoot is 20%.


exp = 0.2 = 0.456
1 2

Using the relation between the phase margin
and the damping ratio

2
M = tan 1 M = 48 . 15

2 + 1 + 4 4

 Solution - 3
The settling time is 20 sec 4
= 20 n = 0.438
n
 Solution - 4
The desired phase margin is 48.15. An
additional 12 is also considered. Therefore,
the necessary phase of the uncompensated
system is 119.85 120.
For Lag lead compensator design we consider
the TF model as
T1s + 1 T2 s + 1
GC (s ) = K C T1
; > 1
s + 1 T2 s + 1

 Solution - 5
For the design of the lag part of the compensator we
obtain the phase cross over frequency from the bode
plot which is about 1 rad/sec.
We consider the gain crossover frequency to be shifted
to the phase crossover frequency
for the lag part of the
compensator so that the lead part provide a gain of 60
at 1 rad/sec.
One of the corner frequencies of the lag part is chosen
as 0.1 rad/sec. The other corner frequency is to be
decided with help of which is computed from the
maximum phase lead angle.
 Solution-6
1
= sin M = 14
+1
Hence, the lag part of the compensator is
T2 s + 1 s + 0.1
=
T2 s + 1 s + 0.0714
For the lead part maximum phase is at

= 0.1
T1
1 = 0.2673 = 3.742
T1 T1
 Solution-7
Lead part of the compensator:
1 T1s + 1 s + 0.2673
=
T1 s + 1 s + 3.742
Solution-8