Classical Control

Lecture 4

Contents

I Presentation 1

1 Frequency Explanations 1
1.1 Bandwidth . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 Resonance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.3 Undamped Natural Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

2 Compensation Design 2
2.1 Continuous System - Time Domain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
2.2 Control Structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2.3 Dynamic Compensator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Part I

Presentation

1 Frequency Explanations
1.1 Bandwidth
The bandwidth of a system is denoted ωBW . It is defined as the maximal frequency where an output
of a system can track an input sinusoid in a satisfactory manner. Using a reference sinusoid signal r
as input to a system will result in the output y being attenuated to 0.707 at the bandwidth frequency
(corresponds to -3dB).
Usually we also use the term crossover frequency ωc when talking bandwidth as it is given as the frequency
at which the -3dB margin is reached.

Blackboard example 1:
Draw frequency response and mark bandwidth

We can talk about bandwidth for a system when we talk about the closed-loop system. In contrast when
we analyze phase and gain margins we always plot the frequency response of an open-loop system.

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Bandwidth is a measure of the speed of a system and thus relates to the rise-time and settling time of a
system.

1.2 Resonance
The resonance frequency ωr is the frequency at which the closed-loop system has a maximum peak.
This only makes sense for systems with damping smaller than 0.7 (ζ < 0.7) as there is otherwise no
oscillations to generate a resonance peak. When we do have a resonance peak it also means that the
actual bandwidth is higher than for a corresponding system with ζ = 0.7 since the peak moves the
amplitude towards the right.

Blackboard example 2:
Draw frequency response of system with resonance peak and compare with corresponding system with
damping ζ = 0.7 (fig 6.5 in FC pp. 323)

1.3 Undamped Natural Frequency

The undamped natural frequency ωn is given in the s-plane as the distance of a complex conjugate pole
from the origin.
For a closed-loop damping of ζ = 0.7 the bandwidth is equal to the undamped natural frequency
ωBW = ωn . If we have lower damping than 0.7 (ζ < 0.7) then the natural undamped frequency is
unchanged, but the crossover frequency (and thus bandwidth) is higher than ωn . This is due to the
effect of the resonance peak. As we lower the damping further the resonance peak increases in size,
but the bandwidth is moved only slightly further to the right, and it is thus possible to state that the
bandwidth of a system ωBW will usually be located within the interval

ωn ≤ ωBW ≤ 2ωn . (1)

Blackboard example 3:
Draw frequency response with damping 0.7 and lower (fig 6.3 in FC pp. 322)

The natural frequency can also be seen in the phase plot as the frequency at which the phase is 90◦ .
Lowering the damping will cause the slope of the phase for the closed loop system to be steeper, but it
will always cross 90◦ at ωn .

Blackboard example 4:
Draw phase of frequency response from example 3

It is worth mentioning how the overshoot, phase margin and the damping are uniquely related (Mp vs.
ζ fig 3.21 pp 118, Mp vs. PM fig 6.37 pp 357), so once one of the values has been set the others are
also set. That also means that we can interpret the frequency plot of the closed-loop system using phase
margins. As such, a damping of 0.7 corresponds to a phase margin of 90◦ and thus when we have a phase
margin of 90◦ we have that the bandwidth is identical to the undamped natural frequency (ωBW = ωn ).
As the phase margin is decreased (the damping is lowered) the bandwidth of the closed-loop system is
increased, but usually not above 2ωn .

2 Frequency Design - Lead/Lag Compensation Design

2.1 Continuous System - Time Domain
Case Study: Antenna Control
General System Model:
J θ̈ + B θ̇ = Tc + Td

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Discarding the disturbances Td gives the transfer function:

Θ(s) 1
= s


U (s) s a +1

B Tc (t)
where a = J = 0.1 and u(t) = B .

Design Specifications:

• Overshoot to a step input less than 16% (PM ≈ 55)

• Settling time to 1% in less than 10s

• Tracking error to ramp of slope 0.01 rad

sec less than 0.01rad

Open Loop Properties

impulse(tf(1,[10 1 0]))
step(tf(1,[10 1 0]))

Impulse Response
Step Response
1
1500

0.9

0.8

0.7
1000
0.6
Amplitude

Amplitude

0.5

0.4

500
0.3

0.2

0.1

0 0
0 10 20 30 40 50 60 0 500 1000 1500
Time (sec) Time (sec)

Impulse response Step response

”Good” Transient Response (FC 115-120)

1.8
• Rise time tr tr ≈
ωn
• Settling time ts 4.6 4.6
Second order system: ts ≈ =
ζωn σ
• Overshoot Mp
− √ πζ
Mp ≈ e 1−ζ2 , 0 ≤ ζ ≤ 1
• Peak time tp π p
tp = , ωd = ω n 1 − ζ 2
ωd

ωn2
H(s) =
s2 + 2ζωn + ωn2

where ζ is the damping ratio and ωn is the natural frequency.

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”Good” Steady-State Response (FC 176-182)

• Laplace transform Z ∞
F (s) = f (t)e−st dt
0−

• Final value theorem

lim f (t) = lim sF (s)
t→∞ s→0

• Steady-state errors and system types

1 − T (s)
ess = lim
s→ sk
– Position-error constant (type 0)
– Velocity-error constant (type 1)
– Acceleration-error constant (type 2)

2.2 Different Control Structures

Control Structures - Single Loop

Constant gain

+
K G(s)
−

Feedforward controller

+
KD(s) G(s)
−

Control Structures - Single Loop

Feedback controller

+
G(s)
−
KD(s)

Combined feedfoward and feedback controller

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 +
D1 (s) G(s)
−
D2 (s)

+
K G(s)
−

Gain Controller
For antenna example:
1
G(s) =
10s2 +s
sys=tf(1,[10 1 0]);
rlocus(sys)

Gain Controller for Antenna

Root Locus
0.1
0.1
0.64 0.5 0.38 0.28 0.17 0.08
0.08
0.08 System: sys
0.8 Gain: 0.099
Pole: −0.05 + 0.086i
Damping: 0.503 0.06
0.06 Overshoot (%): 16.1
Frequency (rad/sec): 0.0995
0.04
0.04
0.94

0.02
Imaginary Axis

0.02

−0.02
0.02

0.94
−0.04
0.04

−0.06
0.06
0.8
−0.08
0.08
0.64 0.5 0.38 0.28 0.17 0.08
−0.1
−0.1 −0.09 −0.08 −0.07 −0.06 −0.05 −0.04 −0.03 −0.02 −0.01 0.1 0
Real Axis

Closed Loop Frequency Response for Antenna

To satisfy overshoot requirement we set K = 0.1
Closed loop transfer function:

KG(s) 0.1 10s12 +s

Gcl1 (s) = =
1 + KG(s) 1 + 0.1 10s12 +s
0.1
=
10s2 + s + 0.1

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The response is then given by:

syscl1=feedback(0.1*sys,1)
step(syscl1)
bode(syscl1)

Closed Loop Response for Antenna

Bode Diagram
Step Response
20
1.4

0
System: syscl1
1.2

Magnitude (dB)
Frequency (rad/sec): 0.1
Magnitude (dB): −0.049
−20

1 −40

−60
Amplitude

0.8

−80
0
0.6

−45
System: syscl1
Phase (deg)
Frequency (rad/sec): 0.1
0.4 Phase (deg): −90.3
−90

0.2
−135

0 −180
−3 −2 −1 0 1
0 20 40 60 80 100 120 10 10 10 10 10
Time (sec) Frequency (rad/sec)

Step response Frequency response

2.3 Dynamic Compensator

Dynamic Compensation
Objective: If a satisfactory dynamic response cannot be obtained by a gain adjustment alone, some
modification or compensation of the dynamics is needed

1 + KD(s)G(s) = 0

Lead/Lag Compensation:

• Lead compensation acts mainly to lower rise time and decrease the transient overshoot:
s+z
D(s) = , z<p
s+p

• Lag compensation acts mainly to improve the steady-state accuracy:

s+z
D(s) = , z>p
s+p

Frequency Response for Lead/Lag Compensation

lead=tf([1 1],[1 10]);

lag=tf([1 10],[1 1]);
bode(lead,lag)

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 Bode Diagram

20

15

10

Magnitude (dB)
5

−5

−10

−15

−20
90

45
Phase (deg)

−45

−90
−2 −1 0 1 2 3
10 10 10 10 10 10
Frequency (rad/sec)

Dynamic Compensator Design

Compensators are added to feedback control systems to increase their stability and error characteristics

1 + D(s)G(s) = 0

• PD compensation: D(s) = K(TD s + 1)

– Increasing the phase margin
– Amplify the high frequency noise
T s+1
• Lead compensation: D(s) = K αT s+1 , α < 1

– Lead compensator is a high-pass filter (app. PD control)

– It is used whenever substantial improvement in damping is required
– Maximum phase contribution is:
1 1 − sin φmax
ωmax = √ α=
T α 1 + sin φmax

PD Compensator Design for Antenna

Design the low frequency gain K with respect to the steady-state error specification:
Antenna system case: K = 1

PD Controller
D(s) = 10s + 1

sysd=tf([10 1],1)*sys;
syscl2=feedback(sysd,1)
step(syscl2)
bode(syscl2)

PD Compensator Design for Antenna

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 Bode Diagram
Step Response
0
1
System: syscl2 −5
Time (sec): 4.57
0.9 Amplitude: 0.99
−10

Magnitude (dB)
−15
0.8
−20
0.7 −25

−30
0.6
Amplitude

−35

0.5 −40
0

0.4

Phase (deg)
0.3

−45
0.2

0.1

0 −90
−2 −1 0 1 2
0 1 2 3 4 5 6 10 10 10 10 10
Time (sec) Frequency (rad/sec)

Step response Frequency response

Lead Compensator Design for Antenna

Design the low frequency gain K with respect to the steady-state error specification:
Antenna system case: K = 1

Lead Controller
10s + 1
D(s) =
s+1

sysd=tf([10 1],[1 1])*sys;

syscl3=feedback(sysd,1)
step(syscl3)
bode(syscl3)

Lead Compensator Design for Antenna

Step Response Bode Diagram

1.4 20

System: syscl3
Time (sec): 3.65 0
Amplitude: 1.16
1.2
Magnitude (dB)

−20

1 −40
System: syscl3
Time (sec): 8.75
Amplitude: 0.99
−60
Amplitude

0.8

−80
0
0.6

−45
Phase (deg)

0.4
−90

0.2
−135

0 −180
−2 −1 0 1 2
0 2 4 6 8 10 12 10 10 10 10 10
Time (sec) Frequency (rad/sec)

Step response Frequency response

Lead Compensator Design for Antenna (FC pp. 375)

Step 1
Design the low frequency gain K with respect to the steady-state error specification

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Antenna system case: K = 1

Step 2
Determine the needed phase lead

sys=tf(1,[10 1 0]);
margin(sys)

PM=18 at ω = 0.308

Lead Compensator Design for Antenna (FC pp. 375)

Step 3
Using lead contribution of φmax = 45 should result in PM=63 which is 8 more than needed.

Step 4
Determine:
1 − sin φmax 1 − sin 45
α= = = 0.1716
1 + sin φmax 1 + sin 45

Step 5
1 1 2
T = √ = ωn √ = √ = 5.248
ωmax α 2 α 0.92 α
Giving a zero in s = − T1 = 0.19 and a pole in 1
s = − αT = 1.11.

Lead Compensator Design for Antenna (FC pp. 375)

Step 6
Draw the compensated frequency response, check PM
Using the formulation:
Ts + 1
D(s) =
αT s + 1
we use:

sysD=tf([5.3 1],[0.9 1])

sysC=sys*sysD
margin(sysC)
step(feedback(sysC,1))

Lead Compensator Design for Antenna (FC pp. 375)

Lead Compensator Design for Antenna (FC pp. 375)

Step 7
Step 7: Iterate on the design until all specifications are met

sysD=tf([9 1],[1 1])

sysC=sys*sysD
margin(sysC)
sysCL=feedback(sysC,1)
step(sysCL)

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 Bode Diagram
Gm = Inf dB (at Inf rad/sec) , Pm = 56.3 deg (at 0.505 rad/sec) Step Response

40 1.4

20 System: untitled1
Time (sec): 5.77
1.2 Amplitude: 1.16
Magnitude (dB)

0
System: untitled1
Time (sec): 13.4
−20 Amplitude: 1.01

1
−40

−60

Amplitude
0.8

−80
−90
0.6
Phase (deg)

0.4
−135

0.2

−180 0
−2 −1 0 1 2
10 10 10 10 10 0 5 10 15 20 25
Frequency (rad/sec) Time (sec)

Frequency response Step response

Lead Compensator Design for Antenna (FC pp. 375)

Bode Diagram Step Response

20 1.4

0 System: sysCL
Time (sec): 4.01
1.2 Amplitude: 1.15
Magnitude (dB)

−20

−40 1
System: sysCL
Time (sec): 8.74
Amplitude: 0.99
−60
Amplitude

0.8

−80
0
0.6

−45
Phase (deg)

0.4
−90

0.2
−135

−180 0
−2 −1 0 1 2
10 10 10 10 10 0 5 10 15 20 25
Frequency (rad/sec) Time (sec)

Frequency response Step response

Exercises

Book: Feedback Control

1. Repeat the antenna control design. The design should meet the following design specifications:

• Overshoot to a step input less than 5%

• Settling time to 1% less than 14s
• Tracking error to a ramp input of slope 0.01 rad
sec less than 0.01rad
• Sampling time to give at least 10 samples in a rise-time

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