COMPENSATORS

Introduction
K (τs + 1)
If we make : G ( s ) H ( s ) = τ >T
2
s (Ts + 1)
This closed-loop system can be stable.
We make the system stable by increasing a component.
This procedureis called the compensation or correction.
Definition of the compensation:
increasing a component ,which makes the system’s
performance to be improved, other than only varying the
system’s parameters, this procedure is called the
compensation or correction of the system.

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 Introduction
Compensator:
The compensator is an additional component or circuit that is
inserted into a control system to compensate for a deficient
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performance.
K
Example : G ( s ) H ( s ) = , to increase τs + 1 component,
2
s (Ts + 1)
the system can be stable, τs + 1 is a compensator.
Types of the compensation
The transfer function of the compensator is designated as
Gc ( s ), and according to the location of Gc ( s ) in the structure
of the system, we can get several types :

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 Introduction
(1) Cascade(or series) compensation
(2) Feedback compensation
(3) Both series and feedback compensation
(4) Feed-forward compensation
(1) Cascade(or series) compensation

Features : simple but the effects to be restricted.

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 Introduction
(2) Feedback compensation
R(s) C(s) R(s) C(s)
G0 ( s ) G 10 G 20
- - - -
GC GC

Features: complicated but noise limiting, the effects are more

than the cascade compensation.
R(s) C(s)
(3) Both cascade and GC1 G0
feedback compensation - -
GC 2
Features: have advantages both
of cascade and feedback compensation.
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 Introduction
(4) Feed-forward compensation
F(s)
GC GC

R(s) + C(s) R(s) + C(s)

G10 G20 G10 G20
- -
For input For disturbance(voice)
Features: theoretically we can make the error of a system to be
zero and no effects to the transient performance of the system.

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Passive compensation controllers
Types of passive compensation controller
1 + τs
1) phase - lead controller G c (s) = α <1
1 + ατs
1 + τs
2) phase - lag controller G c (s) = β >1
1 + βτs
1 + τ bs 1 + τ a s
3) phase lag - lead controller G c (s) = ⋅
1 + βτ bs 1 + ατ a s
α < 1, β > 1 τb > τa

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 Passive compensation controllers
1) Phase - lead controller
1 + τs 1 s + z
Transfer function : Gc ( s ) = = α <1
1 + ατs α s + p

1 1
z= p =
τ ατ

Zero and pole

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 Maxmum value of the phase, φm , and
Frequency response
the frequency ω m at which φm occurs
1 + jτω
Gc ( jω) = 1
1 + jατω ω m = zp =
τ α
∠Gc( jω ) = φ ( jω )
= tan −1 τω − tan −1 ατω
from which we get :
−1  1 − α

φm = sin  
 1+ α 
1 − sinφm
α=
z zp p 1 + sinφm
Bode plot
Compensation ideal:
Effects are similar to PD. make ωm to be ωc !
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Circuit of the phase-lead controller

R2 R1Cs + 1
Gc (s) = = α τs + 1
R1 + R2 R2 ατs + 1
R1Cs + 1
R1 + R 2
R2
τ = R1C α=
R1 + R2
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 Passive compensation controllers
2) Phase - lag controller
τs + 1 1 s+z
Transfer function : Gc ( s ) = = ⋅ β >1
βτs + 1 β s + p

1 1
z= p=
τ βτ

Zero and pole

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Frequency response
1 + jωτ
Gc ( jω) =
1 + jωβτ
1
β β 2τ

Effects are similar to PI.

Compensation ideal:
1
β β 2τ
Make 1/τto be in the
lower frequency-band
and far from ωc !

Bode plot

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Circuit of the Phase-lag controller

Vo ( s ) 1 + τs R1 + R2
Gc ( s ) = = τ = R2C β=
Vin ( s ) 1 + βτs R2

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 Passive compensation controllers
3) Phase lag - lead controller
1 + τa s 1 + τb s
transfer function : Gc ( s ) = ⋅ α <1 β >1
1 + ατ a s 1 + βτ b s
jω

1 1
p1 = − z1 = −
βτ b τb σ

1 1 p2 z 2 z1 p1
p2 = − z2 = −
ατ a τa

Zero and pole

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 Frequency response
L( ω ) / dB 1 + jτ aω 1 + jτ bω
Gc ( jω) = ⋅
1 1 1 1 1 + jατ aω 1 + jβτ bω
βτ b τb τa ατ a
0
ω α <1 β >1
− 20dB/dec
20dB/dec Effects are similar to PID.
ϕ (ω ) Compensation ideal:
90 0 First make the phase-lag
ω
compensation－ －to satisfy ess
− 90 0 and compensate a part of γc .
second make the phase-lead
Bode plot
compensation－ －to satisfy the
transitional requirements.

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Circuit of the Phase lag-lead controller

α <1
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 Operation analysis of the basic compensators

Comparing active compensation controllers and

passive compensation controllers
τs + 1
PD : K p (1 + τ D s ) → phase − lead :
ατs + 1
1
K p (1 + )
τIs τs + 1
PI : → phase − lag :
K p (τ I s + 1) βτs + 1
=
τIs
1
K p (1 + + τ D s)
τIs ( τ a s + 1)( τ b s + 1)
PID : → phase lag − lead :
K p (τ Iτ D s 2 + τ I s + 1) (ατ a s + 1)( τ b s/α + 1)
=
τIs

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 Feedback compensation
The configuration of the Feedback compensation
G’0(s) G’20(s)
R(s) C(s) R(s) C(s)
G0 (s ) G10 G20
－ － － －
GC GC

Fig. 6.5.1
The basic Feedback compensators
Gc ( s ) = α → proportional(position) feedback compensation;
Gc ( s ) = αs[1 (τs + 1)] → differential(speed) feedback compensation;
Gc ( s ) = αs 2 [⋅1 (τs + 1)]
→ 2th − differential(acceleration) feedback compensation;

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Function of the feedback:
1. Decrease the time constant of the encircled elements →
Quicken the response of the encircled elements－－may be;
'
K
For example G20 ( s ) = 20 , Gc ( s ) = α ⇒ G20 ( s ) =
' K 20 K
= ' 20
Ts + 1 Ts + 1 + K 20α T s + 1
T
T' = '
↓, but also K 20 = K 20 /(1 + K 20α ) ↓
1 + K 20α
' K 20 K 20
But if Gc ( s ) = αs ⇒ G20 ( s ) = = '
Ts + 1 + K 20αs T s + 1
T ' = (T + K 20α ) ↑, K 20 = K 20

2. Impair(weaken) the influences of the disturbance to the

encircled elements.
3. make the performance of the encircled elements to be desired .

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The design procedure of the feedback compensator
1. Design the desired characteristics, such as the desired Bode
diagram, of the encircled elements in terms of the system’s
analysis.
2. Choose the appropriate feedback compensators to get the
desired characteristics.

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