Control Engineering

Prof. Madan Gopal

Department of Electrical Engineering
Indian Institute of Technology, Delhi
Lecture - 41
Compensator Design using Frequency Response Plots
Yes friends, with the discussion on the feedback performance characteristics over we can now
switch over to the design problem and I think the best we can do is to take up the lead and lag
design through examples because the lead and lag design through root locus method have already
been introduce to you. You will recall a lead compensator has, I mean both the lead and the lag it
is a pole zero pair; in the case of a lead if you recall there is a zero followed by a pole and in the
case of a lag a pole followed by a zero as far as the left-half plane is concerned. I think I can
make the sketch here and you will surely recall that.
This used to be the situation (Refer Slide Time: 01:45) when we used to take up the problems on
root locus method a zero a compensator zero and at a sufficiently large distance used to be a pole
so it means if I consider this to be 1 over tau, this I can say it is minus 1 over alpha tau naturally
alpha will be less than 1 and the transfer function of a lead compensator let me call it D(s) can be
taken as s plus 1 over tau over s plus 1 over alpha tau with alpha less than 1.
(Refer Slide Time: 2:23)

I think let me go ahead with the lead compensation; I come to the lag compensation after the
discussion on the lead compensation is over. We have seen in the root locus method as to how to
place the 0 and the pole appropriately so that transient performance of the system is improved,
that was the objective. I mean we used to pull the root locus towards the left so that it passes
through the point which is our desired point which is the point corresponding to the desired
closed-loop poles and that point used to correspond to zeta and omega N. Now let us think in
terms of frequency domain. Zeta and omega N if they are specified I will say that using second
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order correlations these indices have been translated to phase margin let us say M r, omega b or
equivalent indices. In my examples let me take that the phase margin and K v and let us say
omega b these are the three important specifications and any other specification could be
checked whether it is met with or not. If these specifications are not met in that particular case
you have to enter into the design cycle you have to take another trial point and using the new
trial point you have to make the calculations again.
So you see that I now want to go ahead with the design of D(s) that is getting the values of tau
and alpha so that performance requirements on K v, phase margin and omega b are satisfied. I
like to say that in addition to the flexibility on tau and alpha I have the flexibility on the gain
also; after all I can put an amplifier stage with the compensator. So instead of saying that we
have two parameters we have in fact three parameters: K c, tau and alpha. But as we did in the
root locus method what I do is the K c parameter I take up with the uncompensated system. I will
calculate the value but I call it a parameter of the uncompensated system the only thing is that
once the parameters K c, tau and alpha have been obtained then at the realization stage I will see
whether K c is totally coming from the compensator or is partially coming from the plant itself
and partially from the compensator that will be just implementation.
(Refer Slide Time: 4:43)

I have three parameters and K c I take to the uncompensated system in that particular case I will
say that I have a transfer function KG(s) so that the K parameter is available there for adjustment
and I have a transfer function D(s) so that the parameters alpha n tau. I think yes, one
change another change I make in..(Refer Slide Time: 5:10) since I am now working in the
frequency domain please see I call it K c (tau s plus 1) divided by (alpha tau s plus 1) this is more
convenient for me this is the gain K c here. That is, I am writing the compensator transfer
function in time constant form because in the frequency domain that is more convenient. This K
c is not the same case you can call it K c dash, it is a different K c but still I take this K c to be
taken along with the uncompensated system so that as far as the definition of compensator is

concerned it has two parameters tau and alpha K c will be taken care of at the implementation
stage.
(Refer Slide Time: 5:43)

Therefore KG(s) is the plant model and here is the compensator (Refer Slide Time: 5:57) and
D(s) now I am writing tau s plus 1 divided by alpha tau s plus 1 and here is my feedback system
please. Get me the values of K tau and alpha so that the requirements on phase margin,
bandwidth and K v the velocity error constant are satisfied or any other have a constant it
depends upon the type of the system I am handling.
(Refer Slide Time: 6:23)

Now first I will like to study the frequency domain characteristics of D(s). Just this very example
will take us to the design algorithm as well, the characteristics of D(s). So let me write this as D(j
omega) is equal to j omega tau 1 plus j omega tau 1 plus j omega alpha tau. Help me please give
me the magnitude and phase characteristics of this. let us see how this is going to behave; what
contribution this particular compensator is going to give to the Bode plot or the frequency plot of
the uncompensated system this is what I want to see; what contribution does it give, what way
we are going to design the parameters tau and alpha so that we are able to shape the frequency
response of the total system.
Therefore, if I make the Bode plot sketch for this, this is omega, this is db please see that in this
particular case your magnitude is 1 so I go up to 0db here what is the next corner frequency it is
omega is equal to 1 by tau and here is a corner frequency omega is equal to 1 by alpha tau; so
which way I go please; plus 20db or minus 20db? It is plus 20db because this corner frequency is
because of a 0 so I take this way up to this point and then here it becomes horizontal because the
pole adds up a slope of minus 20dbs per decade. So, after this point it is going to be 0dbs per
decade. So I have omega is equal to 1 over tau omega is equal to 1 over alpha tau and this
becomes the magnitude characteristics of the lead compensator I have with me.
(Refer Slide Time: 8:14)

The phase characteristics let us see omega; in this particular case tell me please, help me what
type of phase characteristics do you expect. Since alpha is less than 1 your phase angle alpha is
tangent inverse omega tau minus tangent inverse omega alpha tau. This is going to be your phase
angle and therefore in this particular case the phase characteristics will be of this type. The phase
characteristics in this particular case is of this type; this is your frequency here the cut-off or the
corner frequency and the frequency here (Refer Slide Time: 8:56).
You will note this is your 0 degrees. Please note why the name lead compensator has been given
to this. It adds a leading phase angle; here is a positive angle. It adds up a leading phase angle to
the overall phase angle of the system, your designing and this is the feature of the lead
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compensator which we are going to utilize in our design. This is the feature of the lead
compensator.
Well, couple of questions to you. Can you get me the frequency at which this angle is maximum
let me say the maximum value is phi m. The maximum value is phi m and the frequency at
which it occurs is omega m. let us try to get the value of this particular frequency. The couple of
parameters which I will require in my design I am taking your help to get those parameters phi m
naturally will come from the phase angle. So what I am going to do is I will take the derivative
of the phase angle with respect to omega that will give me omega m I will substitute this omega I
am over here to get the value of phi m. Let us do that.
(Refer Slide Time: 10:06)

Phi is equal to tangent inverse omega tau minus tangent inverse omega alpha tau. Tangent phi
becomes equal to yes, omega tau 1 minus alpha over 1 plus yes alpha omega square tau
square please. This is the value of tan phi I am getting. Now let me take the derivative of this
with respect to which parameter I am interested in omega with respect to omega and set it to 0.
So, taking d phi by d omega equal to 0 from this equation gives me omega equal to omega m the
frequency at which the maximum phase angle occurs. I leave this expression to you to calculate;
the value is 1 over tau into 1 over alpha tau under the root.
You please recall, what is 1 over tau and 1 over alpha tau these are the two corner frequencies.
So if omega m is equal to 1 over tau into 1 over alpha tau under the root it means it is geometric
mean of the two, you may please see; 1 over tau and 1 over alpha tau the frequency at which the
maximum occurs it is the geometric mean of the two corner frequencies it is easy to remember
that way it is 1 over tau is this 1 over alpha tau is this (Refer Slide Time: 11:32) so multiply and
take the under root of this.
It is this frequency at which the maximum occurs please. Now, if I substitute this frequency in
the phase expression I will get the value of phi m and let me arrange that phi m in this form; sign
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phi m is equal to 1 minus alpha over 1 plus alpha simple calculation for your please to check sign
phi m is equal to 1 minus alpha over 1 plus alpha.
(Refer Slide Time: 12:02)

Still manipulation of this is needed because I am interested in alpha this can be manipulated to
get me the value 1 minus sign phi m divided by 1 plus sign m please. this is the value of alpha in
terms of phi m; phi m is the maximum phase angle and I will be using this expression in my
design and please set in your mind as to how did I get it I have taken the derivative of phi with
respect to omega and from there I have got be maximum value of phi and omega at which it
occurs the maximum value of phi in terms of alpha I get I have manipulated this to get the value
of alpha in terms of phi m because in this form I know I am going to use the equation in design.

(Refer Slide Time: 12:52)

Please see now one more calculation I want to take up. Can you give me this value? Come on,
take time, you can take little time and get me this value please. What is the value of this
magnitude; what is this magnitude (Refer Slide Time: 13:13)?
Yes, you see that as far as this factor is concerned it is coming from 1 plus j omega t from the 0
as far as this line is concerned or this plot is concerned this plot is coming from 1 plus j omega t
and after this corner frequency in the asymptotic plot you have in fact neglected one. So can I
say that this particular magnitude db is equal to 20 log 1 plus omega squared tau squared under
root and this has been approximated as 10 log omega tau only because for omega tau greater than
1 I have neglected that 1 in asymptotic approximation so it means as far as asymptotic
approximation is concerned the equation becomes db approximately equal to 10 log omega tau.

(Refer Slide Time: 14:12)

Now help me please; what is the value here (Refer Slide Time: 14:17) take omega is equal to 1
by alpha t so if I take omega is equal to 1 by alpha tau this becomes equal to what no it will
become 20 log omega tau. Please see it will become 20 log omega tau because this 2 is coming
here. So now if you take omega is equal to 1 over alpha tau what is the value please 20 log 1 by
alpha. So I get here (Refer Slide Time: 14:42 min) the magnitude as 20 log 1 over alpha. Now, if
this we have solved give me the value of the magnitude at this point please, the magnitude at this
point.[Conversation between Student and Professor Not audible ((00:14:57 min))] yes, 10 log
please all of you verify. If I substitute omega m this value here I get the magnitude at this point
as 10 log 1 by alpha this is what I need as the information about the phase lead network about
this compensator before I take up the design problem.
I summarize the information now that this is a phase lead compensator a lead network will give a
give me this value, an RC network or an Op-Amp circuit that can be taken to give me this
characteristic, this provides the phase lead the maximum phase lead occurs at omega m which is
the geometric mean of the two corner frequencies and the maximum phase lead is related to the
parameter alpha and this relation is given by this (Refer Slide Time: 00:15:44 min). At this
particular frequency (Refer Slide Time: 15:46) the magnitude is 10 log 1 by alpha this is the
magnitude and the maximum value you are getting is 20 log 1 by alpha.

(Refer Slide Time: 15:56)

Keep this in mind; if this is well set in your mind in that particular case the design problem will
quickly follow there will not be any problem at all. And as a design problem I take a situation of
a type-1 system. Let me take this as the design problem that is your uncompensated system G(s)
is equal to K over s(s plus 1) and the requirements are K v is equal to 12 and phase margin equal
to 40 degrees please help me; K v is equal to 12 and phase margin is equal to 40 degrees is the
requirement. There may be additional requirements on bandwidth as well that we will check. But
let us first meet the requirements on phase margin and system K v.
(Refer Slide Time: 16:45)

Now you see the steps please. The steps will follow easily from this example itself. I am not
listing the steps I will save time here because the example will make the steps very clear. The
very first step I want to take is you design your K so that your K v requirement is satisfied.
Please give me the value of K to satisfy the K v requirements then the value of D(s) I am going
to introduce should not change the K v of the system that we have to keep in mind.
Please help me what is the value of K I should take to satisfied the K v requirement?
It is 12 and how about the effect on D(s)? Please tell me whatever D(s) you take will it change
the value of K v keeping in mind that your D(s) is tau s plus 1 divided by alpha tau s plus 1
keeping in mind that your D(s) is tau s plus 1 divided by alpha tau s plus 1; it will not change.
Please see your K v will not change that is why your K v is set once for all and I am taking in
this example K v equal to K equal to 12. So one parameter is decided by K v. So this decision I
have taken on K v. Now I have to take on the phase margin decision and therefore I need the plot
of the uncompensated system first.
G(j omega) equal to 12 over j omega (j omega plus 1) this is the value. Please make a rough
sketch. You know how to make it 12 by omega will be a line of minus 20dbs per decade and this
is a pole which will add another line of minus 20dbs per decade so this becomes the magnitude
plot of the uncompensated system with this as a minus 20dbs per decade slope and this as minus
40dbs per decade slope (Refer Slide Time: 18:40) and you know that this corner frequency is
omega equal to 1 and I can make the phase angle plot also.
For this particular case the phase angle as you know is minus 90 degrees minus tangent inverse
omega. I am giving you the rough phase angle plot. At this frequency I want to get certain phase
margin so this is the phase angle plot. As you know it will be tangential to minus 180 degrees
axis it is clear from here. It is a type-1 system which will be tangential on this side to minus 90
degrees axis and on this side to minus 180 degrees axis so this becomes the phase plot for me for
this particular system. I hope this is clear.
As far as uncompensated system is concerned I have got the gain plot and the phase plot, the
Bode plots that is the semi-log paper plots I have got. Now let me see the phase margin of the
system. I have got the data in my notes. The phase margin in this particular case is equal to 15
degrees. So it is short by how many by 25 degrees you see I need 40 degrees and this is 15
degrees so it is short by 25 degrees.
Now you see the adjustment please. As I told you if you get this example very well the procedure
will be well set. Now what I can do; you see your plot of the lead compensator (Refer Slide
Time: 20:13) and if I cascade a lead compensator the two plots will get added up because of the
Bode characteristics because of the Bode characteristic you see the two plots will be added up.
Now you please notice this point very carefully. What I can do is that place this. please you
are disturbing me gentleman you are disturbing me please and my attention gets diverted do not
speak please. this omega m is the frequency so this particular thing this magnitude (Refer
Slide Time: 20:46) I want to have this phase lead this phase lead I can place at this particular
point please; you can just see this phase lead I can place here so it means what I can do is that
this omega m can coincide with this point and I can design my system in such a way that phi m is
equal to 25 degrees my phase margin will be realized.

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(Refer Slide Time: 21:11)

Anyone who can think of the problem involved in this please; think of the problem involved in
this. I am placing phi m here the maximum phase value is equal to 25 in that particular case the
net angle at this particular point will become 40 which is the desired phase margin but I envisage
a problem. If I do this I fear that the phase margin will be less than 40, could you think of the
reason please? [Conversation between Student and Professor Not audible ((00:21:38 min))]
Yes, please see that when you are adding this phase at this particular frequency you are adding
the gain as well and if you add the gain to this the crossover frequency is getting shifted to the
right that is also showed to the right not to the left that is also set you see that if you add phi m at
this particular point the magnitude gets added to it and the crossover frequency gets shifted to the
right.

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(Refer Slide Time: 22:11)

What is the consequent effect?

The consequent effect is this that suppose it gets shifted to this point tentatively let us say; you
have calculated your 25 degrees hoping that the uncompensated system is providing 15 degrees
to you you see but now since the cross over frequency gets shifted the contribution of the
uncompensated system has reduced from 15 degrees to the value you do not know you see
exactly you do not know but it is a trial and error and design you can approximate it roughly to 5
to 10 degrees.
[Conversation between student and Professor.. ((Sir in that incorrectly it should be))
((00:22:45 min)) oh yes oh yes I am sorry. Yes, you are very right, you are very right. Yes, I have
taken the corner frequency here; this is 15 degrees (Refer Slide Time: 23:01) the gain crossover
frequency of the uncompensated system is this and you want this is let us say 15 degrees this will
get shifted because of the addition of the total magnitude and therefore the contribution of the
uncompensated system will reduce. This is the safety margin we will like to take beforehand
because its exact value I do not know beforehand. So, if the safety margin you have taken does
not work the only thing is that you have to re-enter into the design cycle and couple of trials will
give you the final result.
The guideline is this that okay 5 to and you see the guideline is also provided by the
open-loop plot. If you see that there is a sharp fall off so naturally larger margin should be taken
that is all it is provided here; if the fall off is not that sharp smaller margin will do because after
all it is this fall it is this slope which is going to give you the idea as to how much the safety
margin should be taken (Refer Slide Time: 23:59). But let us assume that I take a safety margin
in this particular problem I have taken a safety margin of 5 degrees so what do I do? I require a
phi m the maximum phase lead of 30 degrees instead of 25 degrees hoping that this shift will
give me the final phase margin o at least 40 degrees. With this hope I am giving an additional
phase angle of 5 degrees here.

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(Refer Slide Time: 24:33)

Therefore I can say the phi m the required phase lead is equal to phi s the required phase margin
or phi pm you can say we have used pm required phase margin yes minus phi 1 the phase angle
of the uncompensated system plus epsilon the safety margin will you do please? phi l phi m the
maximum phase angle I require is equal to the required phase margin minus the phase angle of
the uncompensated system plus the safety margin that is why I am writing here 40 minus 15 plus
5 equal to 30 degrees. So this 30 degrees of phi m I require and hence I can get the value of alpha
now, you see one parameter is set.
You will see from this design the statement I made the frequency domain design is very powerful
because the type of trial and errors you made in the root locus design that much trial and error is
not involved here. So you see by this adjustment of this phase angle you have got one parameter
alpha, K you have already got from K v now alpha I get equal to 1 minus sin 30 divided by 1
plus sin 30 is equal to 0.334 this is the value of alpha I get. The only parameter left is tau.

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(Refer Slide Time: 26:04)

Now, well, if anyone has got an idea how to fix up tau please?
Yes, omega m should coincide with omega gc but which omega gc this omega gc (Refer Slide
Time: 26:19) the new one, how do I know what is the new one? [Conversation between student
and Professor] .. ((by shifting a)) that is perfectly alright, no not 20, this value 10 log 1 by
alpha because at the maximum phase angle it is 10 log 1 by alpha (Refer Slide Time: 26:27).
Please see this much of magnitude will be added at omega m this point may please be noted and
see the value 10 log 1 by alpha is 4.8dbs 10 log 1 by alpha equal to 4.8dbs so what should be the
point?
I envisage that the new crossover frequency will be at the point where the uncompensated system
has a gain of minus 4.8db because 4.8 will be added to it. This is the new gain crossover
frequency please; the uncompensated system should have minus 4.8 so that when 4.8 gets added
to it it will cross the 0db axis and this will become my new gain crossover frequency and hence
now I think you have got the clue. The uncompensated system plot is already with you so you
read off this point (Refer Slide Time: 27:31) at which the magnitude is minus 4.8db as per my
notes it is 4.6 radians per second.

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(Refer Slide Time: 27:39)

So I now get the value of tau from this expression that let omega m is equal to 1 by tau into 1 by
alpha tau under the root equal to 4.6 radians per second. this will give me the value of tau
parameter get the value of tau and the D(s) the final result now I am giving you turns out to be
0.376s so this is naturally the value of tau you see 0.376s plus 1 divided by 0.128s plus 1 is the
value of D(s) I obtained.
(Refer Slide Time: 28:22)

Now you may say that I have to tell you what from the point view of examination also. Do not
leave your answer like this because you have made a guess. You do not know whether that guess

15

was satisfactory or not and therefore you make a compensated plot at least couple of calculations
to check the phase margin for KG(s) D(s) this is the system now.
What is the system?
K was 12 so 12(0.376 s plus 1) divided by s(s plus 1) (0.128 s plus 1) this becomes your openloop transfer function of the compensated system. So now I think I need not make a sketch over
here I can proceed further because for this particular system you can now make the Bode
diagram and get the phase margin. Please note that the entire phase angle curve will not be
required. Just see the corner frequency; the cut-off frequency is it equal to 4.6 which you have
calculated? If yes calculate the angle that gives you the phase margin. So you have to optimise
you see. Do not curse me later if the problem turns out to be lengthy.
You have to optimise on the time. You have to see what is the total effort you require in solving
such a problem. Do not make an effort more than that so that you can evenly distribute the time.
So in this particular case for example a check is required. Now you need not give the second trial
but at least you should say that look your epsilon value turned out to be wrong and you will like
to do it now by taking epsilon larger. If phase margin turns out to be more than 40 degrees there
is no problem 42 degrees 43 degrees it is fine and if it is 1 or 2 degrees less then also there is no
problem because after all even 40 degrees is a guideline for us only the extensive simulation will
tell whether the performance is satisfactory or not.
[Conversation between student and Professor] yes please, ((Sir, if the quadrants are even as K v
and phase margin why cannot we take a larger phase of 50 instead of 40)) ((00:30:25 min)) that
is right. Please see that he says that that if the requirement is greater than equal to 40 degrees
then why not 50 degrees 60 degrees are larger phase margin.
(Refer Slide Time: 30:47)

Please see that in this case what is the price you are paying.

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(Refer Slide Time: 00:30:51 min)

You have yourself said that the crossover frequency will shift; this crossover frequency is an
index of bandwidth. The larger this value the larger is the bandwidth. So it means there is a
bandwidth limitation you see you cannot ideally speaking the bandwidth should be infinite but
the noise filtering requirement may put a limit on the bandwidth. Secondly, larger phase margin
may impose some other restrictions also, well; bandwidth is one of the important things you can
keep in mind. Therefore, you see that when constrains; when certain specifications are given we
normally try to meet these specifications on the boundary so that margin for any other
requirement is available. In this particular case bandwidth is the right answer.
Here actually I have not given you the complete problem I simply say that any bandwidth
requirement can be checked using Nichols chart. So let me now start, transfer it on the Nichols
chart. You can see that a Nichols chart may be required if the problem is asking for bandwidth
because you cannot think of getting the bandwidth from the Bode plot though you know that this
crossover frequency is somehow an index of bandwidth larger this value larger will be the
bandwidth but still the absolute value of the bandwidth you cannot obtain. You will have to make
the closed-loop frequency response or you will have to use the Nichols chart to get the
intersection with the minus 3db contour that is the value of the bandwidth.
Hence if the bandwidth is not satisfactory, you see, if the bandwidth turns out to be. if
suppose.. now his question may be please taken care of; if the bandwidth requirement is too
large you can accommodate larger bandwidth in that particular case you can re-enter the design
and take a larger phase margin no one prevents larger phase margin is better provided your other
requirements are also satisfied. So entering into design cycle depends upon the total requirement
you are going to take care of as far as the requirements of the user are concerned.
I think I can leave the lead compensator design problem here hoping that the complete design
procedure is clear. It is a very simple design procedure; the trial and error is in terms of only
epsilon and to see whether your bandwidth requirement is satisfied or not. Naturally you will
17

make one trial from the examination point of view but you should know the procedure and hence
I will definitely like the comments to be made at every stage. You have to convey, you have to
give the message to me very clearly that if you were required to enter into the design cycle you
have the necessary knowledge for that. That is your responsibility to convey it properly.
[Conversation between student and Professor] ((Sir could you please once we have to be made
once we have made a)) ((00:33:32 min)) Once we have got D(s) first of all I will like to check
the phase margin that is my check on epsilon because after all these are the analytical
calculations I have already done. Even in these calculations I have even not taken minus 3db into
account may be. So first of all I will like to check whether the phase margin requirement is
satisfied or not. And I am telling you; you have now to stretch for 40 degrees, anything around
40 degrees is acceptable. Once this is done it means K v and phase margin requirements have
been satisfied. Then if the problem or the user gives you the requirement on bandwidth also
translate this data on the Nichols chart the magnitude and phase, not of this but of the
compensated system.
First make the Bode plot and phase angle plot of the compensated system, translate this data on
the Nichols chart and get its intersection with the minus 3db contour to get the value of the
bandwidth. If it is satisfied your design problem is complete if not comment on it appropriately
as to what will be your next design trial whether you will like to increase epsilon reduce epsilon
what you are going to do that you have to comment on properly. Any question on lead
compensator design please?
Next I am taking the lag compensator.
[Conversation between student and Professor..34:55] You see, in that particular case it
means your requirements cannot be satisfied as we read in this case. The lead cascade will also
come to satisfy both the requirements simultaneously if you are not able to satisfy it. By one unit
it means the complete lead as well as the lag unit that may be required.
[Conversation between student and Professor ((once we work with a asymptotic plot)) ((00:35:14
min))] No, I am making it here that if you are working with the asymptotic plot I do not mind
provided you have taken enough care that your final check will give me the required phase
margin. It is fine if you think that you will take asymptotic plot but sufficient margin on epsilon
but do not make it too much. Suppose you take epsilon equal to 20 as was suggested by him then
the bandwidth requirement may not be satisfied. It is up to you whether you make an asymptotic
sketch or you take of the errors also. I do not think making errors is a big thing because no
calculation is involved after all; no calculation is involved there, you can make you can
incorporate the errors and make the actual plot immediately.
Now I go to the lag section or the lag compensator. You recall from the root locus sketch what
was our lag compensator a pole here and a 0 close by. So, if I take a D(s) D(s) could be written
asokay in what format we should take let me see: tau s plus 1 I am taking in this format tau
s plus 1 over beta tau s plus 1. Naturally in this particular case beta will be greater than 1. The
constant k similar argument I am not using here the k has been transferred to the uncompensated
system. So this becomes the transfer function of a lag network or a lag compensator tau s plus 1
divided by beta tau s plus 1 with beta greater than 1.

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(Refer Slide Time: 36:51)

Let me see its frequency characteristics. Similarly, the frequency characteristics I am going to
use. So, what will be the first corner frequency please? Omega is equal to 1 by beta tau first and
this is a pole (Refer Slide Time: 37:14); since it is a pole I am making minus 20 degrees per
decade here and then a 0 plus 20 degrees per decade so naturally it becomes 0db here and I have
here omega equal to 1 by tau. So this is omega verses db omega verses db.
(Refer Slide Time: 37:35)

Now let us see the phase angle please. Phase angle in this particular case obviously as you see
the angle will be lagging because beta is greater than 1 so let me take a sketch over here omega
phase angle is lagging here and this is 0 degrees (Refer Slide Time: 37:59). Now, here before I go

19

ahead though the calculations for maximum phase lag and the frequency at which it occurs can
be made. this magnitude let me first write quickly 20 log beta it can be checked though
these calculations can be made but let me make one comment over here the lagging
characteristics of the network will not be utilised for compensation rather it is a drawback and we
will like to see that the lagging characteristics does not give negative contribution to the system.
What I am going to use I am going to use this particular negative magnitude of the lag network
for compensation and hence I am not interested in marking 5 m and the corresponding frequency
here this point may please be noted. This region of the compensator (Refer Slide Time: 38:46) is
not going to effectively contribute to the compensation I am going to take up and therefore these
magnitudes I am not taking. Let us see how do we how do we handle such a situation. I am
calming that the phase lag.. it is called lag compensator because of the phase lag network but
in frequency domain design the lagging characteristics will not be utilized as you will yourself
appreciate when I take a [..39:09.ical] problem.
(Refer Slide Time: 39:10)

I think I can straightaway go to the problem. Keep this characteristic in mind and we will use
these magnitude characteristics to get the appropriate value of the phase margin and the
bandwidth or other requirements if imposed.
I take a problem here: G(s) this is not working G(s) equal to k over s(s plus 1) (s plus 4) the
problem we had taken up in the tutorial class. Now in this case let me say that G(j omega) I want
to get in the time constant form so it is k by 4 it is j omega (j omega plus 1) (0.25 j omega plus
1). For this problem it is given that I require the phase margin equal to 43 degrees, I require the
bandwidth equal to 1.02 radians per second and I require K v greater than equal to 5 these are my
requirements. My design procedure will be same.

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(Refer Slide Time: 40:17)

I will first satisfy the K v requirement by assigning a suitable value to k then I will take care of
the phase margin; after that I will go to the Nichols chart to check the bandwidth if it is not
satisfied I will re-enter with appropriate knowledge obtained from the Nicholas chart. Tuning or
readjusting knowledge will be given by the Nicholas chart as to bandwidth is large or small
whether I can play with this and the question was that if all the requirements cannot be satisfied
then a lag section and a lead section together will meet my requirements on phase margin and
bandwidth.
Now I take up, yes, please help me what is k equal to?
k is equal to 20 and K v is equal to 5 naturally will be given by that. In that case I write G(j
omega) uncompensated system since k has been clubbed with the uncompensated system it is 5
over j omega (j omega plus 1) (0.25 j omega plus 1) come on make a sketch please. I making
asymptotic here to save time but you can use the errors as well. So this is one minus 20 dbs per
decade one corner frequency omega is equal to 1 and one more omega is equal to 4. Omega is
equal to 4here and omega is equal to 1 here and I have the corresponding phase angle plot here.
Help me please; what are the asymptotes?
I think you will recall the asymptotes we had taken for this minus 90 degrees and minus 270
degrees. So let me draw a line for minus 90 degrees here, a line for minus 270 degrees here and a
suitable curve will come let me see what is the phase margin so accordingly I will plot the curve
over here (Refer Slide Time: 42:11) this is the phase angle I make for this particular system
minus 90, minus tangent inverse omega, minus tangent inverse 0.25 omega I can write here
minus 90, minus tangent inverse omega, minus tangent inverse 0.25 omega this becomes my
phase angle curve. This is the gain crossover frequency and this particular point I find the phase
margin to be minus 4 degrees.

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(Refer Slide Time: 42:41)

Therefore it means for this particular k value which you have taken equal to 20 degrees which
meets your steady state requirements this system has become unstable. However, when I add a
compensator the stabilisation naturally will come. The phase margin in this particular case turns
out to be minus 4 degrees. See that this is db on this side and here it is omega and phase angle
(Refer Slide Time: 43:04).
Now make the adjustments please. I will I think take up this sketch and see what type of
adjustments I am going to make in this case. If you look at this red line which is the phase angle
curve, please see, if I am able to pull the low frequency region down it is possible to increase the
phase margin is it not. If I pull the low frequency region down so that the crossover frequency
the gain crossover frequency shifts on the left then the phase margin will be improved will be
increased.
One observation here itself should be clear that the lag compensator will always reduce your
bandwidth while the lead compensator is going to increase your bandwidth is it all right please
because with the lag section you are pulling this down in the low frequency range it means the
gain crossover frequency is reducing and I told you that the gain crossover frequency reduction
leads to reduction in bandwidth and increase leads to increase in bandwidth and therefore the lag
compensator is going to reduce the bandwidth while the lead is going to increase the bandwidth.
This point may help you in taking the decision whether for a given design problem you are going
for a lead compensator or a lag compensator.
Check the bandwidth for the uncompensated system. If you find that the uncompensated system
bandwidth is.. with respect to the required bandwidth you see increase or decrease you can
find. Not that if the increase is required you cannot go for a lead compensator. You can see that if
it increases then will it approximately lie within the range required. please see that it is not an
absolute answer that uncompensated bandwidth you will see if the required bandwidth is larger
go for the lead and if it is smaller go for the lag no, you have to see you simply know that your
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lead compensator will increase the bandwidth and after the increase is it expected that it will lie
within the expectable range and if it is expected you can try the lead compensation.
Similarly the decrease; if it is expected that after the decrease it will still lie in the specified range
you can go for the lag compensation. So it is only the guideline and suitable guidelines you have
to take suitable clues you have to take from here as to your trial is going to be a lead
compensator or a lag compensator. So, in many cases if both the phase margin and the bandwidth
requirement is not satisfied what you do in that case first you design the lag section because lag
section will meet your phase margin requirement and then you add a lead section to meet the
bandwidth requirement because the lead section will increase the bandwidth.
You can really in that case one can do one can divide the phase margin requirement to be
compensated; you can split that into two parts because you know that the lead compensator also
provides a phase lead. So you can really split the requirement of the phase margin into two parts.
Let us say you require 60 degrees. If you require total if you compensate it total by lag
compensator what will happen the gain crossover frequency will have to come deep into this side
it means actually the bandwidth will be drastically reduced if you compensate it total by the lag
section. But if you say I will require a lag section only for 30 so what will happen it will slightly
go down for 30. So 30 degrees phase margin can be obtained by lag compensator and remaining
30 degrees you treat the lag compensated system as an uncompensated system for the design
module of lead compensator and provide an additional phase margin of 30 degrees so your gain
crossover frequency will also shift and hopefully the bandwidth requirement will be met; it is a
trial and error procedure you try and get the values of both lead and lag.
Therefore the standard. you see you will recall, in the root locus section our practice was to
first design the lead section and then go for the lag. That is first you meet the transient response
and then you design the lag section so that it does not disturb your root locus plot. Here it is this
way you first design the lag section, partially meeting the phase margin requirement, slightly
decreasing the gain the gain crossover frequency and hence the bandwidth then design the lead
section meeting the remaining phase margin requirement and hopefully increasing the bandwidth
to the desired value.
Therefore now I switch back to the lag section procedure. Now you can help me please what
shall I do. Now you just see that if I take. let me first of all get the frequency at which the
phase margin is how much I need I need 43 degrees. Let us say that this is the cut-off or this is
the gain cut-off frequency at which the gain crossover frequency at which the required phase
margin of 43 degree will be obtained. This is 43 degrees so now what do you want; you want this
particular plot to be shifted down by this much of db. I need your attention please here this much
of db the idea should come from you. This much of db (Refer Slide Time: 48:44) if I add because
it is a log plot it can be added so that the total plot comes down the crossover frequency is given
by this point and hence a phase margin of 43 degrees will be realised.
Let us say that I match this frequency at this particular point (Refer Slide Time: 00:49:01 min)
intuitively I am saying what are the problems involved in it? I will like to put it at this point and
not at this point why; it is because let me give the maximum attenuation at a time you see why do
I give the partial attenuation; this is the maximum attenuation possible, this is the maximum db

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by which I can bring it down so naturally I will be interested in this region. The only thing is this
that this region extends from omega is equal to 1 over tau to infinity so what point should be
taken that is important.
Can you give me some clue here; what point should be taken? I mean you give me some
qualitative idea. Should it be omega is equal to 1 over tau or should it be a very very large value
or it can be anything that is the idea I want.
[Conversation between student and Professor. ((place the value)) ((00:49:46 min)) what
could be what is the reason why twice ((because we do not want to do in very large)) ((00:49:51
min)) why ((the bandwidth is)) ((00:49:46 min)) let us see. The idea is fine but with respect to
the phase angle you just see please.
Again you have taken 43 degrees without the contribution of phase lag. In this case it is a
negative contribution. So let us say if you take at this point this much of phase lag will be added.
So it means the 43 degrees which you have taken you will not be able to obtain 43 degrees it
could be 35 degrees. So one thing is there that even less you see, my plot is not accurate, so at
the corner it is a substantial phase lag at the corner frequency you see. My plot is not to scale it is
a substantial phase lag at the corner frequency. So the clue could be that why do not you take it
very far away, if you take it very far away in that particular case what will happen the value
of..in this particular case it will be there but 1 over tau and 1 over beta tau which you are
going to realise using RC components the components you will not be able to get appropriately it
is the realisation problem that you want that 1 over tau and 1 over beta tau should be proper and
that demands that 1 over tau should not be taken very far away because in that particular case the
realisation problem comes and there are no quantitative guidelines; the qualitative guideline is
this that if this particular point at which it is 43 degrees. first of all instead of 43 degrees you
take 43 degrees plus epsilon; assume that some phase lag will be anyhow added; assuming this
phase lag here you take it as 43 degrees plus epsilon and in this particular case let us say in this
particular problem I have taken that epsilon to be 12 degrees so it means I want to take a point at
which it is 55 degrees and not 43 degrees and I find that point in my notes that point is given as
0.52 radians per second.

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(Refer Slide Time: 52:04)

So please note; first of all I have taken care that the safety margin should be taken for this phase
lag and this again there is no quantitative guideline you have to get appropriate value by trial and
error. So, very large value for the obvious reasons should not be taken because your bandwidth
will reduce drastically. So in this case 12 degrees I have taken because this is the final design and
55 degrees the corresponding value is 0.25. The qualitative guideline is this that this frequency
should match approximately the frequency which is this 1 over tau you have taken (Refer Slide
Time: 52:45) or this particular point you have taken you place this particular point about two
octaves below this particular point you see this point please two octaves. That is you take it
divided by 4 this is again just a qualitative guideline it may or may not work but mostly it works.
This is 0.25 so it means you place this frequency this frequency which is the corner frequency
two octaves below this point so this point you already know this point is 0.52 and now you have
got the answer the answer is this that 1 over tau equal to 0.52 by 4 and that by 4 is a qualitative
guideline to you, you may like to take one decade below different guidelines depending upon the
problem, depending upon your experience. You see; if you are working with the CAD software
you may try different viewpoints but the procedure should be well said. So I take two octave in
this example to give you some numerical answers so I take now 1 by tau is equal to 0.25 by 4
and therefore one parameter is set in this particular case.
Now how about the other parameter; help me please; how do I get the other parameter?
The other parameter should come from this (Refer Slide Time: 54:14). Please see; this much of
attenuation, this much of minus db you want and this much of minus db should equal this value
(Refer Slide Time: 54:19) two octave below you have already taken so this point (Refer Slide
Time: 54:26) is already available to you. What is this point let me take, it is 0.13.. it was
obvious it is 0.13, it is 0.13 so at 0.13 you read off the value and this as per my notes is equal to
20dbs. So it means you want this much of attenuation and therefore I get the other parameter 20
log beta should be equal to 20 which gives me beta equal to 10 and hence both the parameters

25

are available the total design in this case is D(s) is equal to 7.7s plus 1 divided by 77s plus 1 with
beta and the other parameter available to you.
(Refer Slide Time: 55:17)

Now all the other comments are identical to the first case. That is you cascade your D(s) to the
uncompensated transfer function, get the Bode plot of the overall system and see that the effect
of the phase lag is too.. that is the value of epsilon has been appropriately taken and you are
able to get the required phase margin of 43 degrees around 43 degrees with the value of epsilon
we have taken and one more check and that check is that of gain crossover frequency, the check
is that of bandwidth. If there is a slight variation required in the bandwidth in that particular case
may be by adjusting epsilon you may be able to meet. But if there is a big gap between the
bandwidth you have acquired and the bandwidth desired then it is an indication that whatever
design you have made treat this design as an uncompensated system and go ahead for the lead
section so that the total lag lead compensator is available to you.
I think with this through these examples I have conveyed the procedures and I hope the
procedures should be clear and with this we close our discussion of this particular course. Thank
you very much for your cooperation.

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