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Chapter 7
Chapter 7
1 / 64
Compensators
We have seen how to draw a root locus when there is a variable gain
K for a given plant dynamics.
Q. What if the desired pole locations are not on this locus?
A. We need to modify the locus by adding extra dynamics (i.e., D (s)).
Chapter 7
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Compensators
Chapter 7
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PID control
General control setup is given as
Chapter 7
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Proportional control
Proportional control is given as
u (t) = Ke (t) or D (s) = K
so, the transfer function is
T (s) =
KG (s)
.
1 + KG (s)
Chapter 7
5 / 64
Proportional control
Example
1
Consider G (s) = (s+a)(s+b)
where a > b > 0.
We apply proportional control
D (s) = K .
Since G (0) =
1
ab ,
1
.
K
1 + ab
We can make ess small by making K very large, but this often leads to
poorly damped behavior and often requires excessively large actuators.
Chapter 7
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Proportional control
For the DC motor example, consider the controller
u (t) = K (r (t) y (t)) = Ke (t) or D (s) = K .
The closedloop transfer function is
Y (s)
AK
=
.
R (s)
(1 s + 1) (2 s + 1) + AK
where the poles are the roots of (1 s + 1) (2 s + 1) + AK .
Without feedback (i.e., K = 0)
s1 = 1/1 , s2 = 1/2 .
With feedback (i.e., K > 0)
s1 , s2 =
q
(1 + 2 ) (1 + 2 )2 41 2 (1 + AK )
21 2
Chapter 7
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Proportional control
For K >
(1 2 )2
4A1 2 ,
Chapter 7
8 / 64
Integral control
Pure integral control is given as
Zt
K
K
e ( ) d or D (s) =
u (t) =
TI
TI s
0
K G (s)
TI s
.
+ TKI G (s)
s
Chapter 7
9 / 64
Integral control
Substitute u (t) =
K
TI
Rt
0
K
TI
Zt
0
+ Bw (t) .
(r ( ) y ( )) d
Chapter 7
10 / 64
Integral control
We apply a step (or a ramp or a parabola) input and we would like to
know how well does our (closedloop) system track this input.
Ultimately, we would like zero error (i.e., e (t) = 0) (maybe 1%, 2%
in reality).
Recall that, for a unity feedback control system, the steady state error
to a unit step input is
ess =
1
.
1 + KD (0) G (0)
1
= 0.
1+
So, by adding the integrator into the compensator, the error has been
1
reduced from 1+K
to zero for systems that do not have any free
P
integrators.
ess
Chapter 7
11 / 64
Integral control
Example
Consider G (s) =
1
(s+a)(s+b)
K
.
TI s
1
= 0.
1+
Chapter 7
12 / 64
Zt
0
s + T1I
1
e ( ) d or D (s) = K 1 +
=K
TI s
s
AK
=0
TI
Chapter 7
13 / 64
1
(s+a)(s+b)
14 / 64
Derivative control
Pure derivative control is given as
u (t) = KTD e (t) or D (s) = KTD s
where TD is the derivative time.
Damps dynamic response.
Has a stabilizing effect.
Provides feedback that is proportional to the rate of change of e (t),
so, control response anticipates future errors.
Does nothing to reduce constant error (i.e., if e (t) = 0, then
u (t) = 0).
Does not do much to help the steady state error.
Is impractical since derivative magnifies sensor noise.
Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)
Chapter 7
15 / 64
Derivative control
Example
Chapter 7
16 / 64
Derivative control
Example
1
Consider G (s) = (s+a)(s+b)
where a > b > 0.
We apply derivative control
D (s) = TD s.
The closedloop system is very stable and there is no ringing.
1
(s+a)(s+b)
17 / 64
Chapter 7
18 / 64
1
(s+a)(s+b)
Chapter 7
19 / 64
Zt
0
(r ( ) y ( )) d
1
1+
+ TD s .
TI s
Chapter 7
20 / 64
error , stability
stability .
TD
sin ( + ) TI |s1 |
|G (s1 )| sin () [TI |s1 | + 2 cos ()]
sin ()
K
+
|s1 | |G (s1 )| sin () TI |s1 |2
Chapter 7
21 / 64
Substituting the PID controller into the DC motor model and solving
for poles results in
1 2 TI s 3 + TI ((1 + 2 ) + AKTD ) s 2 + TI (1 + AK ) s + AK
AK
(1 + 2 ) + AKTD 2 1 + AK
s +
s+
s3 +
1 2
1 2
1 2 T I
= 0
= 0.
There are three coefficients and there are three control gains (i.e., K ,
TI , TD ).
We can put poles anywhere.
So we have complete control of dynamics in this case.
Chapter 7
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Chapter 7
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Chapter 7
24 / 64
Chapter 7
25 / 64
s z0
s p0
with |p0 | < |z0 | (that is, the pole is closer to the origin than the zero).
Since |z0 | > |p0 |, the phase added to the openloop transfer function
is negative (i.e., phase lag).
Pole is often placed very close to origin (e.g., p0 0.01), and zero
is placed near the pole (e.g., z0 0.1).
Lag control does not change locus much since p0 z0 0.01.
Lag control improves the steady state error.
Chapter 7
26 / 64
where
G (s) =
1
.
(s + 1) (s + 5)
Let D (s) = K = 13 and R (s) = 1/s, find the steady state error.
Chapter 7
27 / 64
1
1
1 + K (s+1)(s+5)
R (s) .
Chapter 7
28 / 64
After applying the final value theorem, the steady state error is found
as
ess
=
=
=
lim e (t)
t+
lim sE (s)
s0
5
1
= .
K
18
1+ 5
Chapter 7
29 / 64
where
G (s) =
1
.
(s + 1) (s + 5)
s+c
with K = 13, c = 0.1, and d = 0.01 which is a
Let D (s) = K s+d
typical lag compensator.
Chapter 7
30 / 64
1
1+K
1
s+0.1
s+0.01 (s+1)(s+5)
R (s) .
Chapter 7
31 / 64
After applying the final value theorem, the steady state error is found
as
ess
=
=
=
lim e (t)
t+
lim sE (s)
s0
1
1
= .
0.1
27
1 + K 0.015
Recall that, for D (s) = K = 13, steady state error was ess = 5/18.
So, the steady state error is a factor of 7.5 better with
s+0.1
.
D (s) = 13 s+0.01
Chapter 7
32 / 64
s z0
s p0
with |z0 | < |p0 |, that is, the zero is closer to the origin than the pole.
Lead control does change the locus.
Pole and zero locations are chosen so that the locus will pass through
some desired point s = s1 .
Design may be done analytically for
D (s) =
a1 s + a0
s +a
or D (s) = K
.
b1 s + 1
s +b
Chapter 7
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Chapter 7
34 / 64
b1 s 1 + 1
From these expressions, for s1 = |s1 | exp (j) and
G (s1 ) = |G (s1 )| exp (j), we obtain
a1 =
b1 =
Chapter 7
35 / 64
with
G (s) =
1
.
s2
0
such that the root locus passes through
Find D (s) = ab11s+a
s+1
Chapter 7
36 / 64
a1 =
=
2 2 81 sin (270 )
1
2
+ 2 81 12
5
1
= .
2
2 28
=
= .
16
2 2 sin (270 )
2 2
So, the compensator has the form
b1 =
D (s) =
Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)
5
2s + 2
.
3
16 s + 1
Chapter 7
37 / 64
Root Locus
20
15
10
Imaginary Axis
10
15
20
6
Real Axis
1
s2
with D (s) =
5
2 s+2
3
16 s+1
Chapter 7
38 / 64
where
G (s) =
1
.
s (s + 1)
Find D (s) such that the dominant closedloop poles are at 3 3j.
Chapter 7
39 / 64
1
.
s (s + 1)
Imaginary Axis
3.5
2.5
1.5
Real Axis
0.5
0.5
Chapter 7
40 / 64
Consider
s +a
s +b
with b > a > 0 which is a lead compensator.
D (s) = K
s +a
1
.
s + b s (s + 1)
Note that, there are three closedloop poles where two of them are at
3 3j and the third one depends on the values of a, b, K .
Chapter 7
41 / 64
Y (s)
s(s+b)(s+1)
=
.
s+a
R (s)
1 + K s(s+b)(s+1)
Note that,
1+K
s +a
s (s + b) (s + 1)
|s=3+3j = 0
|s=3+3j = 180
s (s + b) (s + 1)
where we have one equation and two unknowns (a and b).
Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)
Chapter 7
42 / 64
Chapter 7
43 / 64
Let a = 3.
After utilizing the angle condition along with the properties, we obtain
1
s +3
|s=3+3j +
|s=3+3j = 180
s (s + 1)
s +b
s (s + 1)
|s=3+3j = (s + b) |s=3+3j .
180 +
s +3
|s=3+3j = 168.69 , so
Note that, s(s+1)
s+3
3
1
(3 + b + 3j) = tan
= 11.31
b3
and after noting that tan (11.31 ) = 0.2, we obtain b = 18.
Thus, we obtain the following characteristic equation
s +3
1 + KD (s) G (s) = 1 + K
.
s (s + 18) (s + 1)
Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)
Chapter 7
44 / 64
Root Locus
20
15
10
Imaginary Axis
10
15
20
20
15
10
Real Axis
1
s(s+1)
s+3
with D (s) = K s+18
Chapter 7
45 / 64
1
1
1
1
78.
Chapter 7
46 / 64
where
G (s) =
1
.
s (s + 1)
Chapter 7
47 / 64
=
=
K (s+a)
s(s+b)(s+1)
s+a
+ K s(s+b)(s+1)
K (s + a)
s (s + b) (s + 1) + K (s + a)
where
cl
= s (s + b) (s + 1) + K (s + a)
= s 3 + (1 + b) s 2 + (b + K ) s + aK
Chapter 7
48 / 64
= (s + 3 3j) (s + 3 + 3j) (s + p3 )
= (s + p3 ) s 2 + 6s + 18
Chapter 7
49 / 64
Chapter 7
50 / 64
Chapter 7
51 / 64
18
28
18
54
13
13
>
5
>
a> .
>3
3
a
3
a
28
5
18
a
Chapter 7
52 / 64
s +a s +c
.
+ b} |s +
{z d}
|s {z
Lead
Lag
Chapter 7
53 / 64
where
G (s) =
1
.
(s + 1) (s + 5)
Chapter 7
54 / 64
Chapter 7
55 / 64
s +a s +c
s| {z
+ b} |s +
{z d}
Lead
Lag
and after neglecting the effects of the lag compensator, we will first
consider
s +a
D (s) = K
s +b
and find a, b and K .
Next, we will try to find c and d, to complete the lead/lag
compensator design.
Chapter 7
56 / 64
Chapter 7
57 / 64
|s=4+5j +
|s=4+5j = 180 .
(s + 1) (s + 5)
s +b
From the above expression, we can obtain the following
5
1
tan
= 19.3 b = 18.
b4
Thus, for only the lead compensator, we obtain the following
characteristic equation
1 + KD (s) G (s) = 1 + K
s + 10
.
(s + 18) (s + 1) (s + 5)
Chapter 7
58 / 64
Root Locus
50
40
30
Imaginary Axis
20
10
10
20
30
40
50
20
15
10
Real Axis
1
(s+1)(s+5)
s+10
with D (s) = K s+18
Chapter 7
59 / 64
= 1
= 56.6.
s + 10 s + c
.
|s +
{z18} |s +
{z d}
Lead
Lag
Chapter 7
60 / 64
1
1+
s+c
1
56.6 s+10
s+18 s+d (s+1)(s+5)
R (s) .
After applying the final value theorem, the steady state error is found
as
ess
=
=
=
lim e (t)
t+
lim sE (s)
s0
1
1
=
.
10 c 1
1 + 6.3 dc
1 + 56.6 18 d 15
EE362 Feedback Control Systems
Chapter 7
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s + 10 s + 0.1
.
{z18} |s + 0.00625
{z
}
|s +
Lead
Lag
Chapter 7
62 / 64
Chapter 7
63 / 64
Chapter 7
64 / 64