VTU e-learning Courseware

Control Engineering (ME55)

Session IV

SYSTEM COMPENSATION
Basic Characteristics Of Lead, Lag And Lag-Lead Compensation:

R(S)

C(S)
COMPENSATOR

PLANT

FEEDBACK
ELELMENT

Lead compensation essentially yields an appropriate improvement in

transient resonse and a small imrovement in steady state accuracy. Lag
compensation on the other hand, yields an appreciable improvement in
steady state accuracy ast the expense of increasing theh transient
responsetime. Lag-lead compensation combines the characterisitcs of
both lead compensation and lag compensation. The use of a lead or lag
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Srinidhi.R, Faculty, Mechanical Engineering, SJCE, Mysore 570006

Session IV: 22/11/2006

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Control Engineering (ME55)

compenastion saises the order of the system by one. The use of a laglead compensator raises the order of the system by two (unless
cancellation occurs between the zeroes of the lag-lead network and the
poles of the uncompensated open-loop transfer function), which means
that the system becomes more complex and it is more difficult to control
the transient response behavior. The particular situation determines the
type of the compensation to be used.

Lead Compensation
Procdure for the design of suitable compensator starts from the type of
network adopted in the process. For example a Mechanical Network or
an electrical network and derive the transfer function for the type of
network chosen.Once the transfer fucntion is obtained, then the
procedure for designing lead compensator based on the root-locus
aproach or frequency response approach.

Lead Network. A schematic diagram of an electrial lead network is

shown . Mechanical Network comprises of SPRINGS and DAMPERS
and

Electrical

Network

comprises

of

RESISTORS

AND

CAPACITORS. The name lead network comes from the fact that for a
sinusoidal input, ei, the output e0 of the network is also sinusoidal with
phase lead. The phase lead angle is a function of the input frequency.

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Srinidhi.R, Faculty, Mechanical Engineering, SJCE, Mysore 570006

Session IV: 22/11/2006

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Control Engineering (ME55)

The transfer fucntion of the network is derived assunming the sourec

network to be ZERO and the output load impedance is infinite.

Basic Step involves finding out the Transfer Function (TF) of the
network
Next step involves procedures for designing lead compensator
based on the root locus approach and /or Frequency Response
approach
1. TRANSFER FUNCTION
Consider a system represented by an ELECTRICAL & a
MECHANICAL network
Lead Network comes from the fact that for a sinusoidal input ei,
the output eo is also sinusoidal with phase lead
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Srinidhi.R, Faculty, Mechanical Engineering, SJCE, Mysore 570006

Session IV: 22/11/2006

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Control Engineering (ME55)

Phase lead angle is a function of input frequency

In order to derive the TF, the complex impedances Z1 and Z2
Z1=[ R1/(R1Cs+1)] and Z2=R2
Assumption made is that the source impedance is ZERO and that
of the output load is INFINITE
XO(S)/XI(S) = (S+1/T)/(S+1/T)
This has a ZERO at s= -(1/T)
This has a POLE at s = -(1/T)
Zero is always located far to the left
Minimum value of is limited by the physical construction of the
lead network
If is very very small then it is necessary to cascade an amplifier

in order to compensate for the attenuation of the lead network.

4
Srinidhi.R, Faculty, Mechanical Engineering, SJCE, Mysore 570006

Session IV: 22/11/2006

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Control Engineering (ME55)

In the polar plot, for a given value of , the angle between the
positive real axis and the tangent line drawn from the origin to the
semicircle gives the MAXIMUM PHASE ANGLE m
Frequency at the tangent point is n
Phase angle at = n is given by
Sin m = (1-/2)/(1+/2)= (1-)/(1+)
Shows relationship of LEAD ANGLE &Value
5
Srinidhi.R, Faculty, Mechanical Engineering, SJCE, Mysore 570006

Session IV: 22/11/2006

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Control Engineering (ME55)

In Bode Plot of lead network for =0.1 shows that corner

frequency as =1/T and =1/T , m is the geometric mean of
two corner frequencies
Log m = { log(1/T) + log(1/ T)}, which is m = 1/ T
Lead Network is a high pass filter ,hence low frequencies are
attenuated

Additional GAIN is required elsewhere to increase low frequency

gain

Consider the elctrical lead network as shown. Using defined symbols,

Z1={R1/(R2Cs+1)} and Z2= R2
The transfer function between the output Eo(s) and input Ei(s) is
[Eo(s)/Ei(s) ] = [Z2/(Z1+Z2)]
= [R2/(R1+R2)] [(R1Cs+1)/((R1R2/R1+R2)Cs+1)]
Defining R1C=T & [R2/(R1+R2)]=<1 and substituting in the above,
then the transfer fucntion becomes
[Eo(s)/Ei(s) ] = {Ts+1/ (Ts+1)} =[( s+(1/T))/ (s+(1/ T))]

[Eo(s)/Ei(s)] = [(s+(1/T))/ (s+(1/ T))]

On the similar lines, the transfer fucntion for a mecanical lead
network may also be obtained which is the same as that of an
electrical lead network.

6
Srinidhi.R, Faculty, Mechanical Engineering, SJCE, Mysore 570006

Session IV: 22/11/2006

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Control Engineering (ME55)

[Eo(s)/Ei(s)] = [(s+(1/T))/ (s+(1/ T))]

A lead network has the following transfer fucntion.
{Ts+1/ (Ts+1)} =[( s+(1/T))/ (s+(1/ T))] (for <1)
This has a ZERO at s= -1/T and a pole at s= - [1/( T)]. Since <1,
ZERO is always located to the right of the pole in the complex plane. It
may also be noted tat for a small value of , the pole is located far to the
left. The minimum value of is limited by the physical construction of
the lead network. The minimum value of is usually taken to be 0,.07.
If the value of is small, it is necessary to cascade an amplifier in order
to compensate for the attenaution of the lead network. In the polar plot
of the lead network replacing s by j
[(jT+1)/( j T+1)] (0< <1)
For a given value of , the angle between the positive real axis and
the tangent line drawn from the origin to the semicircle gives the
maximum phase angle m, calling frequency at the tangent point to be

m, the phase angle at = m, is

Sin m = [((1- )/2)/ ((1+ )/2)]
= [(1- )/ (1+ )]
This relates the maximum phase angle and the value of .
In the Bode diagram of the lead network (when = 0.1), the corner
frequencies for the lead network are = 1/T and = 1/( T). From

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Srinidhi.R, Faculty, Mechanical Engineering, SJCE, Mysore 570006

Session IV: 22/11/2006

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Control Engineering (ME55)

the figure it is clear that m is the geometric mean of the two corner
frequencies or ,
Log m = [ log (1/T) + log 1/( T)]

= m = 1/ T
As seen from the figure, the lead network is basically a high passs
filter. (The high frequencies are passed but the low frequencies are
attenuated). Therefore an additional gain elsewhere is needd to
increase the low frequency gain.
LAG COMPENSATION: The Procedural aspects of designing a
suitable lag compensator is exactly the same as given in the lead
compensator design.

8
Srinidhi.R, Faculty, Mechanical Engineering, SJCE, Mysore 570006

Session IV: 22/11/2006

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VTU e-learning Courseware

Control Engineering (ME55)

Mas
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In Bode Plot of lag network for =10 shows that corner frequency
as =1/T and =1/ T frequencies
Lag Network is a low pass filter, hence high frequencies are
attenuated

9
Srinidhi.R, Faculty, Mechanical Engineering, SJCE, Mysore 570006

Session IV: 22/11/2006