SKEE 3143

CONTROL SYSTEM DESIGN

CHAPTER 3
Compensator Design Using the
Bode Plot

1
 Chapter Outline
3.1 Introduction Re-visit to Frequency Response, plotting frequency
response, bode plot stability analysis.

3.2 Gain Adjustment Compensation

3.3 Lag Compensation

3.4 Lead Compensation

3.5 Lead-Lag Compensation

3.6 Design the Compensators using MATLAB

2
 3.1 Introduction
Re-visit: The Bode Plots

The log-magnitude and phase frequency response curves as a

function of log is called Bode plots.
Bode plot is a technique for analyses and design of control
systems.
Consider a transfer function G ( s) Km( s z1 )(s z 2 ) ( s z k )
s ( s z1 )( s z 2 ) ( s z k )

The magnitude frequency response

K ( s z1 ) ( s z 2 ) ( s z k )
G ( j )
s m ( s p1 ) ( s p2 ) ( s pn )
s j

Converting into dB
20 log G ( j ) 20 log K 20 log ( j z1 ) 20 log ( j z 2 )
20 log ( j ) m 20 log ( j p1 ) 20 log ( j p2 )
3
 3.1 Introduction
Re-visit: The Bode Plots

The phase frequency response

G ( j ) K ( j z1 ) ( j z 2 ) ( j p1 ) ( j p2 )

If we know the magnitude and phase responses of each term,

total frequency response can be obtained by algebraic sum of
each term.
The frequency response can be simplified by utilizing straight-
line approximations.
Therefore, total frequency response can be obtained by
graphic addition.

4
 3.1 Introduction
Re-visit: The Bode Plots

G(s) = K
G ( s ) K ; G ( j ) K
Gj ) dB 20 log K
G ( j ) 0 0

5
 3.1 Introduction
Re-visit: The Bode Plots

G(s) = s
G ( s ) s; G ( j ) j
Gj ) dB 20 log 20 dB/decade

G ( j ) 90 0

At = 1, gain = 0 dB.

6
 3.1 Introduction
Re-visit: The Bode Plots

G(s) = 1/s
G ( s ) 1 s ; G ( j ) 1 j
Gj ) log(1 / )
Gj ) dB 20 log(1 / ) 20 log - 20 dB/decade

G ( j ) 90 0

At = 1, gain = 0 dB.

7
 3.1 Introduction
Re-visit: The Bode Plots

For G ( s) s 1 s j
G ( s) ( 1); G ( j ) 1
a a a
2

Gj ) 1
a

At a, G ( j ) tan 1
Gj ) dB 20 log 1 0dB
a

G ( j ) tan 1 0 0 0
At = a,
Gj ) dB 20 log 2 3.01dB
G ( j ) tan 1 1 450
At a,
Gj ) dB 20 log 20 dB/decade
G ( j ) tan 1 90 0
8
 3.1 Introduction
Re-visit: The Bode Plots

The low-frequency approximation is called the low-

frequency asymptote.
The high-frequency approximation is called the high-
frequency asymptote.
The frequency, = a is known as break frequency
because it is the break between the low- and high-
frequency asymptotes.

9
 3.1 Introduction
Re-visit: The Bode Plots

high-frequency asymptote

low-frequency asymptote break-frequency

10
 3.1 Introduction
Re-visit: The Bode Plots

high-frequency asymptote

low-frequency asymptote asymptotic approximation

11
3.1 Introduction
Re-visit: The Bode Plots

12
3.1 Introduction
Re-visit: The Bode Plots

13
 3.1 Introduction
Re-visit: The Bode Plots
1
For G ( s) 1
G ( s) ; G ( j )
1

s
1 s a 1 j a 1
a 1 1
Gj ) 2
; G ( j ) tan
a
1
a
At a,
Gj ) dB 20 log 1 0dB
G ( j ) tan 1 0 0 0
At = a,
Gj ) dB 20 log(1 2 ) 3.01dB
G ( j ) tan 1 1 450
At a, 1
Gj ) dB 20 log - 20 dB/decade

G ( j ) tan 1 90 0
14
 3.1 Introduction
Re-visit: The Bode Plots

high-frequency asymptote

low-frequency asymptote
break-frequency
15
 3.1 Introduction
Re-visit: The Bode Plots

high-frequency asymptote

asymptotic approximation
low-frequency asymptote
16
 3.1 Introduction
Re-visit: The Bode Plots

Example 1
Sketch the Bode plots for the system shown where

K ( s 3)
G ( s)
s ( s 1)(s 2)

Compare your sketch with the bode plot obtained from

MATLAB

17
 3.1 Introduction
Re-visit: The Bode Plots second order systems

For n 2
G (s) s 2 2 n s n 2
n 2 1
G ( s) 2 2
2
s 2 n s n s 2
2
s 1
n n

1 1
G ( j ) 2

( j ) 2 2 2
j 1 1 j
n 2 n 2 n
n

At low frequency, n, G ( j ) 1
Gj ) dB 20 log 1 0 dB; G ( j ) 0 0
At high frequency, n, G ( j ) 1 2
Gj ) dB 20 log 2 40 log ; G ( j ) 180 0
18
 3.1 Introduction
Re-visit: The Bode Plots second order systems

high-frequency asymptote

low-frequency asymptote
break-frequency
19
 3.1 Introduction
Re-visit: The Bode Plots second order systems

high-frequency asymptote

asymptotic approximation
low-frequency asymptote
20
 3.1 Introduction
Re-visit: The Bode Plots second order systems

At the break frequency, = n, G ( j ) 1 j 2

G ( j ) dB 20 log(2 ); G ( j ) 90 0

The magnitude depends on . For example:

lG(j)ldB

0.1 -20log (0.2) = 13.9 dB

0.7 -20log (1.4) = -2.92 dB

1 -20log (2) = -6.02 dB

21
 3.1 Introduction
Re-visit: The Bode Plots second order systems

22
 3.1 Introduction
Re-visit: The Bode Plots second order systems

23
 3.1 Introduction
Re-visit: The Bode Plots second order systems

Example 2
Sketch the Bode plot for G(s) for the unity feedback
system shown below where G(s) = (s + 3)/[(s + 2)(s2 + 2s +
25)].

Compare your sketch with the one obtained using

MATLAB

24
 3.1 Introduction
Re-visit: The Bode Plots second order systems
Solution
For 1/(s2 + 2s + 25)],
n = 5 rad/s; = 0.2
Normalise:
s
(3 50) 1
G ( s) 3
2
s s 2

1 s 1
2 25 25

25
 3.1 Introduction
Re-visit: The Bode Plots second order systems
Solution

26
 3.1 Introduction
Re-visit: The Bode Plots second order systems
Solution

27
 3.1 Introduction
Re-visit: The Bode Plots Gain & Phase Margins

180
28
 3.1 Introduction
Re-visit: The Bode Plots Gain & Phase Margins

Example 4
Consider a unity feedback system with G(s) =
200/[(s+2)(s+4)(s+5)]. By using MATLAB, find the gain
margin and the phase margin.

SOLUTION:
GM = 7 rad/s. GM = 6.02 dB.

M = 5.5 rad/s. M is = 1800 1650 = 150.

29
 3.1 Introduction
Re-visit: The Bode Plots Damping Ratio & Phase Margins

Relationship of phase margin and damping ratio:

2
M tan 1
2 2 1 4 4

30
 3.1 Introduction
Re-visit: The Bode Plots Steady-state Errors

Steady-state error can also be obtained from the open-loop

Bode plot.

System type 0 System type 1

31
 3.1 Introduction
Re-visit: The Bode Plots Steady-state Errors

System type 2

32
 3.2 Gain Adjustment
The Design of Controller

For design in frequency response, the concepts of stability,

transient response and steady-state error are used.
A closed-loop system is stable if the open-loop magnitude
frequency response has a gain less than 0 dB at the phase
frequency response -1800.
Percentage OS is reduced by increasing the phase margin.
Speed of response is increased by increasing the bandwidth.
The steady-state error is improved by increasing the lower
frequency magnitude responses.

33
 3.2 Gain Adjustment
The Design of Controller

The desired OS can be

obtained by designing
the phase margin.
If we desire a phase
margin, M
represented by CD, we
have to raise the
magnitude curve by AB.
A simple gain
adjustment can be used
to design the phase
margin and hence, the
OS.
34
 3.2 Gain Adjustment
The Design of Controller

Example 3
For the position control system, find the value of the
preamplifier, K to yield a 9.5% OS in the transient response
for a step input. Use only the frequency response methods.

35
 3.2 Gain Adjustment
The Design of Controller
Solution

K = 3.6

= 14.8 rad/s

36
 3.2 Gain Adjustment
The Design of Controller

Solution
OS 9.5%, = 0.6, M = 59.20.
From the plot, to obtain M = 59.20 , M = 14.8
rad/s.
At = 14.8 rad/s, the gain = -44.2 dB. The
magnitude has to be raised to 0 dB to yield the
required phase margin.
K1 = 162.2
K = 3.6K1 = 162.2 x 3.6 = 583.9.
The gain-adjusted open-loop transfer function:
58390
G ( s)
s ( s 36)( s 100)
37
 3.2 Gain Adjustment
The Design of Controller
Example 4
For a unity feedback system with a forward transfer
function
K
G (s)
s ( s 50)( s 120)

use frequency response techniques to find the value

of gain, K to yield a closed-loop step response with
20% OS.

ANSWER: K = 194200

38
 3.3 Lag Compensation
The Lag Compensator

Lag compensator is used to improve steady-state error

without affecting the transient response.
With the Bode diagram, the lag compensator:
Improve the static error constant by increasing only the low
frequency gain.
Increase the phase margin to yield the desired transient
response.
The transfer function of the lag compensator:
1 which can be s where
s 1
T simplified to z
Gc ( s ) Gc ( s ) c zc pc
1 s
s 1
T pc

39
 3.3 Lag Compensation
The Lag Compensator

The Bode plot for lag compensator is:

40
3.3 Lag Compensation
The Lag Compensator

41
 3.3 Lag Compensation
The Lag Compensator

The effect of lag compensator:

The uncompensated
system is unstable to
achieve desired
static error constant.
The lag compensator
reduces the high-
frequency gain, while
not changing the
low-frequency gain.
Thus, the low-
frequency gain of the
system can be made
high to yield a large
Kv without creating
instability.
42
 3.3 Lag Compensation
The Lag Compensator

Steps to design:
i Obtain the value for K which satisfies the ess and plot the
corresponding Bode Plot.
ii Find the gain crossover freq so that the desired phase margin
is obtained.
iii Read the gain of the uncompensated system at this freq. The
compensator gain needed is the amount needed to change
the compensated gain to 0 dB.
iv Hence, the higher break freq (zc) for the compensator is one
decade below the gain crossover freq.
v Then, draw a -20 db/decade slope backwards until it meets
the 0 dB line. This is the lower break freq (pc) for the
compensator.
43
 3.3 Lag Compensation
The Lag Compensator
Example 5
Given the system below (Example 3), use Bode diagram to
design a lag compensator to yield a tenfold improvement
in steady-state error over the gain compensated system
while keeping the percent OS at 9.5%.

44
 3.3 Lag Compensation
The Lag Compensator

Solution
From example 3, OS 9.5%, K = 583.9; Kv=16.22
Desired Kv = 16.22 (10) = 162.2
Therefore, K = 5839 to achieve Kv = 162.2.
Bode plot with K =5839.

OLTF, 583900
G ( s)
s ( s 36)( s 100)

45
 3.3 Lag Compensation
Solution The Lag Compensator

K = 5839 = 0.062 20 dB/dec

= 0.98

110

46
 3.3 Lag Compensation
The Lag Compensator
Solution
Desired OS 9.5%, = 0.6, M = 59.20.
To compensate, M = 59.20 + = 100 = 69.20
= 9.8 rad/s, magnitude = 24 dB.
Draw a lag compensator: high break frequency = 0.98
rad/s, low break frequency = 0.062 rad/s. [20 dB/dec
line]
The transfer function: Gc ( s) 0.063( s 0.98)
( s 0.062)

The compensated system:

36786( s 0.98)
Gc ( s )
s ( s 36)(s 100)(s 0.062)

47
 3.3 Lag Compensation
The Lag Compensator
Example 6
For a unity feedback system with a forward transfer
function
K
G ( s)
s ( s 50)( s 120)

use Bode diagram to design a lag compensator for the

system that will improve the steady-state error tenfold,
while still operating with 20% OS.

ANSWER: Glag ( s )
0.0691( s 2.04)
( s 0.141)

48
 3.4 Lead Compensation
The Lead Compensator

Lead compensator is used to improve the transient

response.
With the Bode diagram, the lead compensator:
Increase the phase margin to reduce the percent
OS.
Increase the gain crossover and bandwidth to
realize a faster transient response.

49
 3.4 Lead Compensation
The Lead Compensator

The transfer function of the lead compensator:

1 which can be s
s 1
1 T simplified to zc
Glead ( s ) Gc ( s )
s 1 s
1
T pc
where, 1 where z c pc
zc
1
pc

50
 3.4 Lead Compensation
The Lead Compensator

The Bode plot for lead compensator is:

51
3.4 Lead Compensation
The Lead Compensator

52
 3.4 Lead Compensation
The Lead Compensator

The uncompensated
system has a small
phase margin (B) and a
low phase-margin
frequency (A).
Using the lead
compensator, the gain
crossover frequency is
increased from A to C.
This yield a larger phase
margin (D), a higher
phase-margin frequency
(C) and a larger
bandwidth. 53
 3.4 Lead Compensation
The Lead Compensator

The Bode plot for lead compensator is:

The peak and

phase curve vary
in maximum
angle at the
frequency where
the maximum
occurs.
54
 3.4 Lead Compensation
The Lead Compensator

The frequency at the maximum phase angle:

zc
max [1]

The maximum phase angle:
1 1
max sin [ 2]
1
The compensators magnitude at max:

1
Gc ( jmax ) [3]

55
 3.4 Lead Compensation
The Lead Compensator
Steps to design:
i Obtain the value for K which satisfies the ess and plot the
corresponding Bode Plot.
ii Find the Phase margin of the uncompensated system.
iii Calculate the additional phase needed by the lead compensator
so that it satisfies the system requirement (additional correction
factor might be needed).
iv Calculate the needed.
v Calculate the compensators magnitude to obtain above.
vi Obtain the new gain crossover freq G s. t. the magnitude of
uncompensated system is equal but negative to that of the
compensators. Hence, calculate for zc and pc.
vii Draw the bode plot and check the system performance. Repeat the design steps
with different correction factor if the system requirement is sill not achieved.
56
 3.4 Lead Compensation
The Lead Compensator
Example 7

Given the system below, use Bode diagram to design a

lead compensator to a 20% OS and Kv = 40, with a peak
time of 0.1 second.

57
 3.4 Lead Compensation
The Lead Compensator
Solution
For Kv = 40, K = 1440.
Plot Bode diagram with K = 1440.
Desired OS = 20%; M = 48.10.

58
 3.4 Lead Compensation
The Lead Compensator
Solution
From the
Bode
diagram, M
= 340 at =
29.6 rad/s.
Therefore
the required
phase margin
from the lead
compensator
is 48.10 340
+ 100 = 24.10

59
 3.4 Lead Compensation
The Lead Compensator
Solution 3.76 dB

Using
equation [2],
for max =
24.10, =
0.42.
Using
equation [3],
the lead
compensator
magnitude =
3.76 dB at
max

60
 3.4 Lead Compensation
The Lead Compensator
Solution
To select as the
new phase-
margin
frequency, find
the frequency
(max) at which
the
uncompensate
d system 39 rad/s
magnitude is
-3.76 dB.
From the Bode
diagram, max =
39 rad/s.
61
 3.4 Lead Compensation
The Lead Compensator
Solution
Using equation [1], zc = 25.3 and pc = 25.3/0.42 = 60.2

Hence, the lead compensator is

s 25.3
Gc ( s) 2.38
s 60.2
The final compensated open-loop transfer function:

342600( s 25.3)
Gc ( s )
s ( s 36)( s 100)( s 60.2)

62
 3.4 Lead Compensation
The Lead Compensator
Solution

63
 3.4 Lead Compensation
The Lead Compensator
Example 8

For a unity feedback system with a forward transfer

function
K
G (s)
s ( s 50)( s 120)

design a lead compensator for the system to yield 20%

OS and Kv = 50.

ANSWER: 2.27( s 33.2)

Glead ( s )
( s 75.4)

64
 3.5 Lead-Lag Compensation
The Lead-Lag Compensator

Lead-lag compensator is used to improve both the

transient response and the steady state error.
It is the combination of lead compensator and the lag
compensator.
With the Bode diagram, the lead-lag compensator:
Improve the performance at low frequency range
via the effect from the lag compensator
Improve the performance at high frequency range
via the effect from the lead compensator.

65
 3.5 Lead-Lag Compensation
The Lead-Lag Compensator

The transfer function of the lead-lag compensator:

s s

1 1
zc1 zc 2
Gc ( s )
s s
1 1
pc1 pc 2

where the conditions for the zeros and poles are same as
being set earlier for the individual compensators.

Further detail examples can be found in the textbook for this

part.
66
 Conclusion
We have covered the design of system
performance using Bode Plot by utilising:
The gain adjustment
The lag compensator,
The lead compensator.
The lead-lag compensator.

THE END

67