Systems Analysis and Control: Matthew M. Peet

Systems Analysis and Control
Matthew M. Peet
Illinois Institute of Technology
Lecture 24: Compensation in the Frequency Domain
Overview
In this Lecture, you will learn: Lead Compensators

Performance Specs Altering Phase Margin
Lag Compensators
Change in steady-state error
M. Peet
Lecture 24: Control Systems
2 / 25
Phase and Gain Margin

Recall: 3 indicators
Gain Margin Phase Margin Bandwidth
From Phase Margin and Closed-Loop Bandwidth:

Percent Overshoot Peak Time Rise Time Settling Time
Percent Overshoot: is from M only %OS = e

M. Peet
1 2
3 / 25

Given , we need BW to nd Tr , Ts and Tp
Ts =
f1 ( ) BW
Tp =
f2 ( ) BW
Tr =
f3 ( ) BW
4 / 25
M. Peet

This is all analysis. Design Problem: Achieve
10% Overshoot Tr = 2s Ts = 10s
Step 1: Translate into M and BW constraints. Get desired from 10% Overshoot
%OS 100 %OS 100
ln =
2 + ln2 = .57
M. Peet
5 / 25

The desired yields a desired phase margin. M,desired = des 100 = 57
The toughest constraint will be Rise Time: Tr < 2s BW = f3 ( ) Tr 2.12 > = 1.06 2
M. Peet
6 / 25

We can also look at settling time: Ts < 10s BW = f1 ( ) Ts 8 = .8 > 10
Therefore: We want
Phase margin of M = 57 Bandwidth of BW > 1
M. Peet
7 / 25
Lead Compensators
So far we only know how to nd M and BW , but not inuence them.
M = 35 at c = 2.3 BW = 3.7
Question: How can we increase M and decrease BW ?
Answer: Increase gain at > BW,desired

So that |G(BW,desired )| = 7dB . Increase phase by 22 at crossover frequency.
Lead Compensation
M. Peet Lecture 24: Control Systems 8 / 25
Lead Compensators
Question: How do we design our lead compensator? In root locus, we had pole placement. Look at the Two Lead Compensators: D(s) = k
50
s+1 s 10 + 1
and
Bode Diagram
D2 (s) = k
s+1 s 100 + 1
40
30 Magnitude (dB) Phase (deg)
20
10
-10
90
45
10
-2
10
-1
10
10 Frequency (rad/sec)
10
10
10
What are the dierences?

Lead Compensators
Consider the generalized form of lead compensation D(s) = k determines how much phase is added
< 1 for lead compensation > 1 for lag compensation
Ts + 1 T s + 1
T determines where the phase is added.

We want extra phase at the crossover frequency
Note that magnitude is also added at high frequency.

Could increase the crossover frequency. Changes the phase margin.
M. Peet
10 / 25
Lead Compensators
Question: Where is the phase added? Find the point of Maximum Phase. The Phase contribution of the lead compensator is ( ) = D( ) = T ( + 1) (T + 1) = tan1 (T ) tan1 (T ) To nd peak phase contribution, set
D ( )
= 0.
1 1 = T T = 0 1 + (T )2 1 + (T )2 Which means 1 + (T )2 (1 + (T )2 ) = 1 + ( 1)(T 2 2 ) = 0 Dividing by 1 , we get 1 T 2 2 = 0

M. Peet
or
max =
T
11 / 25
Lead Compensators
So we get that the maximum phase contribution is at max = Convert to a log Bode plot: log max = 1 1 1 log + log 2 T T
1 T 1 1 . T T
The maximum occurs at the average of log

90
and log
1 T
Phase (deg)
45
10
-2
10
-1
10
10
10
10
log(1/T)
log(1/ T) ( log(1/ T) + log(1/ T) ) 2
M. Peet
12 / 25
Lead Compensators
Reconsider our example: D(s) = k
T =1 1 = 10
90
s+1 s 10 + 1
Phase (deg)
45
10
-2
10
-1
10
10
10
10
=1
= 10
max= 3.162
Maximum Phase occurs at =

M. Peet
= 3.162
Lecture 24: Control Systems 13 / 25
Lead Compensators
Reconsider our example: D(s) = k
T =1 1 = 100
90
s+1 s 100 + 1
Phase (deg)
45
10
-2
10
-1
10
10
10
10
=1 max=10
= 100
Maximum Phase occurs at =

M. Peet
= 10
Lead Compensators
So if we want to add phase at c , then we need 1 T = c This is not denitive Depends on how much phase we want to add. Now consider the case where we want to add 30 of phase margin. Question: How much phase does a lead compensator add?
We already know the frequency of peak phase. Make this the crossover frequency
1 max = tan1 tan1 ( ) 1 = sin1 1+ Independent of T !

Lead Compensators
We can plot max vs.
1 .
1 = 3. For 30 phase, we want Lets add 30 of phase at = 3.7, we want
Lead will move crossover frequency.
T =
M. Peet
1 3 = = .468 3.7 c
Lead Compensators
This gives us a lead compensator: D(s) = Ts + 1 .468s + 1 = T s + 1 .156s + 1
Bode Diagram 15
10 Magnitude (dB) Phase (deg) 0

1
30
10
10
10
M. Peet
17 / 25
Lead Compensators
Add this to the original plot to get
Bode Diagram 30 20 Magnitude (dB) Phase (deg) 10 0 10 20 30 90
135
180
10
10
New Phase margin is 51.3 . New BW = 4.79

Crossover frequency is increased, which reduces the phase margin.
M. Peet
18 / 25
Lag Compensators
What about steady-state error? Want to increase |G(0)| No eect on M or BW
Bode Diagram 30 20 Magnitude (dB) Phase (deg) 10 0 10 20 30 90
135
180
10
10
ess =
Ignore the lead compensator. Increase |G(0)| by 15dB. No change at c or BW
M. Peet
1 1 + |G(0)|
19 / 25
Lag Compensators
Question: How do we increase |G(0)| without changing BW ? We want to reduce gain at = 0. 15 20 log |D(0)| =
Want no eect on M or |G(0)|
20 log |D(BW )| =0 Look at the Two Lag Compensators: s +1 and D(s) = 100 s 10 100 +1
Bode Diagram 5 0 Magnitude (dB) 5 10 15 20 25
D2 (s) =
s 1000 + 1 s 10 1000 +1
0 Phase (deg)
45
10
10
10
10
10
10
M. Peet
20 / 25
Lag Compensators
Lets use the form: D(s) = determines how much phase is added
> 1 for lag compensation As before, min phase is given by = Center this point at low frequency
T 1
Ts + 1 T s + 1
Change in magnitude at high frequency is 20 log (T s + 1) 20 log(T s + 1) If T is large, this is just 0. At low frequency, gain is 20 log
M. Peet
21 / 25
Lag Compensators
For our problem, set T = .01 and then we want 20 log = 15 so = 10.75 = 5.62 D(s) = 5.62 .01s + 1 .0562s + 1
Bode Diagram 20
15
Magnitude (dB) Phase (deg)
10
30
60 4 10
10
10
10
M. Peet
22 / 25
Lag Compensators
The system with lag compensation:
Bode Diagram Gm = 10.2 dB (at 4.23 rad/sec) , Pm = 34.8 deg (at 2.13 rad/sec) 150
100
50
50
100
150 90
135
180
225
270 10
4
10
10
10 10 Frequency (rad/sec)
10
10
10
Bandwidth: BW = 3.7 Phase Margin: M = 35

Lag Compensators
Combine the lead and lag compensators:
Bode Diagram Gm = 12.4 dB (at 6.92 rad/sec) , Pm = 51.1 deg (at 2.78 rad/sec) 150
100
50
50
100
150 90
135
180
225
270 10
4
10
10
10 10 Frequency (rad/sec)
10
10
10
M = 51 BW = 4.78
Summary You Have Learned: Classical Control Systems

Exam Material: Root Locus Drawing
Asymptotes, Break Points, etc. Compensation Gain, Lead-Lag, Notch Filters
Bode and Frequency Response What is frequency response? Drawing Bode Plot Closed Loop Dynamics Compensation Nyquist Plot Drawing and Concepts Stability Margins Next Course is MMAE543: Rise of the Machines

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Systems Analysis and Control

Lecture 24: Compensation in the Frequency Domain

In this Lecture, you will learn: Lead Compensators

Lecture 24: Control Systems

Phase and Gain Margin

From Phase Margin and Closed-Loop Bandwidth:

Percent Overshoot: is from M only %OS = e

Lecture 24: Control Systems

Phase and Gain Margin

Phase and Gain Margin

Lecture 24: Control Systems

Phase and Gain Margin

Lecture 24: Control Systems

Phase and Gain Margin

Lecture 24: Control Systems

Question: How can we increase M and decrease BW ?

Answer: Increase gain at > BW,desired

30 Magnitude (dB) Phase (deg)

What are the dierences?

T determines where the phase is added.

Note that magnitude is also added at high frequency.

Lecture 24: Control Systems

1 1 = T T = 0 1 + (T )2 1 + (T )2 Which means 1 + (T )2 (1 + (T )2 ) = 1 + ( 1)(T 2 2 ) = 0 Dividing by 1 , we get 1 T 2 2 = 0

Lecture 24: Control Systems

The maximum occurs at the average of log

log(1/ T) ( log(1/ T) + log(1/ T) ) 2

Lecture 24: Control Systems

Maximum Phase occurs at =

Maximum Phase occurs at =

1 max = tan1 tan1 ( ) 1 = sin1 1+ Independent of T !

1 = 3. For 30 phase, we want Lets add 30 of phase at = 3.7, we want

Lead will move crossover frequency.

10 Magnitude (dB) Phase (deg) 0

Lecture 24: Control Systems

New Phase margin is 51.3 . New BW = 4.79

Lecture 24: Control Systems

Lecture 24: Control Systems

Lecture 24: Control Systems

Lecture 24: Control Systems

Magnitude (dB) Phase (deg)

Lecture 24: Control Systems

Magnitude (dB) Phase (deg)

Bandwidth: BW = 3.7 Phase Margin: M = 35

Magnitude (dB) Phase (deg)

Summary You Have Learned: Classical Control Systems

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