Frequency Domain Analysis Using Bode Plot

Swagat Kumar
July 11, 2005

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 1

 Topics to be covered

• Frequency response of a linear system

• Bode plots
• Effect of Adding zero and poles
• Minimum and Non-minimum phase
• Relative stability: Gain Margin and Phase margin
• Lead and Lag compensator Design
• PID compensator design using bode plot
• Summary

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 2

 Frequency response of a linear system
Consider a stable linear system whose transfer function is given by

Y (s)
G(s) =
U (s)
For a sinusoidal input u(t) = Asinωt, the output of the system is given by

y(t) = Y sin(ωt + φ)

where

Y = A|G(jω)|
 
Im[G(jω)]
φ = ∠G(jω) = tan−1
Re[G(jω)]
A stable linear system subjected to a sinusoidal input will, at steady state, have a
sinusoidal output of the same frequency as the input. But the amplitude and phase
of output will, in general, be different from those of the input.

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 3

 Graphical tools for frequency response analysis

• Bode Diagram
• Nyquist plot or polar plot
• Log-magnitude versus phase plot
In this lecture, we will only study about “Bode Diagram” and its application in
compensator design.

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 4

 Bode Plot

A Bode diagram consists of two graphs:

• a plot of 20 log |G(jω)| (in dB) versus frequency ω , and

• a plot of phase angle φ = ∠G(jω) versus frequency ω .
Advantages of Bode plot:

• An approximate bode plot can always be drawn with hand.

• Multiplication of magnitudes get converted into addition.
• Phase-angle curves can easily be drawn if a template for phase-angle curve of
(1 + jω ) is available.

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 5

 Construction of Bode plot

Any transfer function is composed of 4 classes of terms

1. K
2. (jω)±1
3.(jωτ + 1)±1
h i±1
jω jω
4. ( ω )2 + 2ζ ω + 1
n n

The gain K :

• Log-magnitude curve is a straight line at 20 log K and phase angle is zero for
all ω

• The effect of varying the gain K in the transfer function is that it raises or lowers
the log-magnitude curve by a constant amount without effecting its phase curve.

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 6

 Construction of bode plot

Integral and derivative term (jω)∓1 : The logarithmic magnitude of 1/jω in

decibel is  
 1 
20 log   = −20 log ω dB
jω
The phase angle of jω is constant and equal to −90◦ .

• Octave: A frequency band from ω1 to 2ω1

• Decade: A frequency band from ω1 to 10ω1
For (jω)±n term,

- slope of log-magnitude curve = ±20n dB/decade or ±6n dB/octave.

- phase angle = ±(n × 90)◦

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 7

 Construction of Bode Plot

20
Slope = -20dB/decade
|G(jω)| ∠G(jω)
10

0.1 1 10 100 1000 0.1 1 10 100 1000

−10 −90o

−20
(a) Magnitude Plot (b) Phase Plot

1
Figure 1: Magnitude and Phase plot of G(jω) = jω

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 8

 Construction of Bode Plot

20
|G(jω)| ∠G(jω)
10 90◦

0.1 1 10 100 1000 0.1 1 10 100 1000

−10 −90o
Slope = 20dB/decade
−20
(a) Magnitude Plot (b) Phase Plot

Figure 2: Magnitude and Phase plot of G(jω) = jω

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 9

 Construction of Bode Plot

First order factors (1 + jωT )∓1 : The log magnitude of the first order factor
1
(1+jωT ) is
 
 1  p
 = −20 log 1 + ω 2 T 2 dB
20log 
(1 + jωT ) 
The phase angle is φ = − tan−1 ωT . The log-magnitude curve can be
approximated by two asymptotes as given below:
1
√
For ω << T, −20 log 1 + ω 2 T 2 ≈ −20 log 1 = 0 dB
1
√
For ω >> T, −20 log 1 + ω 2 T 2 ≈ −20 log ωT dB
Phase curve

ω 0 1/T ∞
φ 0 −45◦ −90◦

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 10

 Construction of Bode Plot

∠G(jω)
Corner frequency
10 30◦
Asymptote

|G(jω)| 0 0◦

−10 −30◦

−20 −60◦

Slope = -20 dB/decade

−90◦
1 1 1 1 2 10 20 1 1 1 1 2 10 20
20T 10T 2T T T T T 20T 10T 2T T T T T

(a) Magnitude plot (b) Phase plot

1
Figure 3: Magnitude and phase plot of (1+jωT )

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 11

 Construction of Bode Plot

∠G(jω)
Corner frequency
30 90◦

|G(jω)| 20 60◦

10 30◦

0 0◦
Asymptote

−10 −30◦
1 1 1 1 2 10 20 1 1 1 1 2 10 20
20T 10T 2T T T T T 20T 10T 2T T T T T

(a) Magnitude plot (b) Phase plot

Figure 4: Magnitude and phase plot of (1 + jωT )

Error at corner frequency ≈ 3 dB and slope is +20 dB/decade.

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 12

 Construction of Bode Plot

   2
Quadratic factors [1 + 2ζ j ωωn ω
+ j ωn ]∓1 : The log-magnitude curve for
   2
1/(1 + 2ζ j ωωn + j ωωn ) is given by
  s
 
2 2
  2
 1  ω ω
20 log  2  = −20 log 1− 2 + 2ζ
 
ω ωn
  
 1 + 2ζ j ωωn + j ωωn  n
 

The asymptotic frequency-response curve may be obtained by making following

approximations:

For ω << ωn , log-magnitude = −20 log 1 = 0 dB

ω2
For ω >> ωn , log-magnitude = −20 log 2
ωn = −40 log ωωn dB
At corner frequency ω = ωn , the resonant peak occurs and its magnitude depends
on damping ratio ζ .

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 13

 Construction of Bode Plot

1
The phase angle of 2 is
1+2ζ (j ωωn )+(j ωωn )
 
2ζ ωωn 
φ = tan−1 

 2 
1 − ωωn

The phase curve passes through following points

ω 0 ωn ∞
φ 0◦ −90◦ −180◦

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 14

 Construction of Bode Plot

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 15

 Frequency domain specifications

• The resonant peak Mr is the maxi-

mum value of |M (jω)|. Mr
• The resonant frequency ωr is the fre-
1
quency at which the peak resonance 0.707
Mr occurs. |M (jω)|

• The bandwidth BW is the frequency at

which M (jω) drops to 70.7% (3 dB)
0 ωr BW ω
of its zero-frequency value.

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 16

 Frequency domain specification

For a second order system, following relationships between frequency and

time-domain responses can be obtained.

Resonant Frequency: 10

p
ωr = ωn 1 − 2ζ 2 8

Mr in dB
Resonant Peak: 6

1 0.707
Mr = |G(jω)|max = |G(jωr )| = p 4
2ζ 1 − ζ 2
2
for 0
≤ ζ ≤ 0.707. For ζ > 0.707, ωr = 0 and
Mr = 1
0 0.2 0.4 0.6 0.8 1.0
Bandwith:
ζ
2
p 4 2 1/2
p
BW = ωn [(1 − 2ζ ) + (ζ − 4ζ + 2)] = [ωr2 + ωr4 + ωn4 ]1/2

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 17

 Frequency domain specification

• Mr indicates the relative stability of a stable closed loop system.

• A large Mr corresponds to larger maximum overshoot of the step response.
Desirable value: 1.1 to 1.5

• BW gives an indication of the transient response properties of a control system.

• A large bandwidth corresponds to a faster rise time. BW and rise time tr are
inversely proportional.

• BW also indicates the noise-filtering characteristics and robustness of the

system.

• Increasing ωn increases BW.

• Increasing ζ decreases BW as well as Mr .
• BW and Mr are proportional to each other for 0 ≤ ζ ≤ 0.707.

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 18

 Examples

Effect of adding a zero to the forward path transfer function

Consider following open loop transfer function

1
G(s) =
s(s + 1.414)
Adding a zero to the forward path transfer function leads to

(1 + T s)
G1 (s) =
s(s + 1.414)
The closed loop transfer function is given by

1 + Ts
H1 (s) = 2
s + (T + 1.414s) + 1
The general effect of adding zero to the forward path transfer function is to
increase the bandwith of the closed loop system.

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 19

 Examples

Bode Diagram

Magnitude (dB)
−1

−2

−3

−4

−5
0

−45
Phase (deg)

T=0
T = 0.2
−90
T = 0.5
T=2
−135 T=5

−180
−1 0
10 10
Frequency (rad/sec)

Figure 5: Effect of adding a zero

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 20

 Examples

Step Response

0.8

Amplitude

0.6

0.4
T=0
T = 0.2
T = 0.5
0.2 T=2
T=5

0
2 4 6 8 10 12 14 16 18
Time (sec)

Figure 6: Effect of adding a zero: Step response

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 21

 Example: adding a zero

Observations

• A zero provides a phase lead to the transfer function.

• For very low values of T , bandwidth decreases.
• For higher values bandwith increases and hence faster rise time.
• For very high values of T , zero (s = − T1 ) moves very close to origin, causing
the system to have larger time constant and hence longer settling time.

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 22

 Example

Adding a pole to the forward-path transfer function

Reconsider the previous open loop system

1
G(s) =
s(s + 1.414)
Adding a pole to the forward-path transfer function leads to

1
G1 (s) =
s(s + 1.414)(1 + T s)
The closed loop transfer function is given by

1
H1 (s) =
T s3 + (1.414T + 1)s2 + 1.414s + 1
The effect of adding a pole to the forward path transfer function is to make
the closed-loop system less stable while decreasing bandwidth

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 23

 Example

Bode Diagram

10

Magnitude (dB)
5

−5

−10
0

−45
T=0
Phase (deg)

−90
T = 0.5
−135 T=1
T=5
−180

−225

−270
−1 0
10 10
Frequency (rad/sec)

Figure 7: Effect of adding a pole

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 24

 Example

Step Response

1.4
T=0
T = 0.5
1.2 T=1

Amplitude

0.8

0.6

0.4

0.2

0
0 5 10 15 20 25
Time (sec)

Figure 8: Effect of adding a pole

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 25

 Example: Adding a pole

Observation

• For smaller values of T , BW increases slightly but Mr increases.

• For higher values of T , BW decreases but Mr increases.
• In step response, the rise time increases with decreasing of BW.
• Peak overshoot and settling time increses with increasing value of T .

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 26

 Minimum and nonminimum-phase system

Minimum-phase system Transfer functions having neither poles or zeros in the

right-half s plane are minimum-phase transfer functions.

Nonminimum-phase system Those having poles and/or zeros in the right-half s

plane are called nonminimum-phase system.

Consider following two systems

s+1
G1 (s) = 10
s + 10
s−1
G2 (s) = 10
s + 10
|G1 (jω)| = |G2 (jω)|
∠G1 (jω) 6= ∠G2 (jω)

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 27

 minimum and non-minimum phase system

Bode Diagram

20

15

Magnitude (dB)
10

0
180

135 10(s−1)/(s+10)
Phase (deg)

90
10(s+1)/(s+10)
45

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

In a minimum-phase system, the magnitude and phase-angle are uniquely related.

This does not hold for a NMP system.

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 28

 Relative Stability

Phase Margin It is the amount of additional lag at the gain crossover frequency ω g
required to bring the system to the verge of instability. At gain crossover
frequency, the magnitude of open loop gain is unity, i.e., |G(jωg )| = 1. The
phase margin γ is given by
γ = 180◦ + φ
where φ = ∠G(jωg ).
Gain Margin It is the amount of additional gain at phase crossover frequency ω p
that can bring the system to the verge of instability. At phase crossover
frequency, the phase angle of open loop transfer function equals −180 ◦ , i.e.,
∠G(jωp ) = −180◦ . The gain margin is given by
1
Kg = or Kg dB = −20 log |G(jωp )|
|G(jωp )|

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 29

 Stability analysis using bode plot

• The phase margin and gain margin must be positive for a minimum-phase
system to be stable.

• Negative margins indicate instability.

• For satisfactory performance, the phase margin should be between 30◦ and
60◦ and gain margin should be greater than 6 dB.
• Either the gain margin or the phase margin alone does not give a sufficient
indication of the relative stability. Both should be given in order to determine the
relative stability.

• For first order and second order system, gain margin is always infinity.
Disadvantage of Bode plot:
Bode plot can’t be used for stability analysis of non minimum-phase system.

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 30

 stability analysis using bode plot

Bode Diagram
Gm = 9.54 dB (at 2.24 rad/sec) , Pm = 25.4 deg (at 1.23 rad/sec)

100

Gain crossover frequency

50

Magnitude (dB)
0
+ve gain
Stable System margin
−50

−100
−90

−135 +ve phase

Phase (deg)

Margin
−180

−225
Phase crossover frequency

−270
−2 −1 0 1 2
10 10 10 10 10
Frequency (rad/sec)

10
Figure 9: Bode plot of s(s+1)(s+5)

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 31

 stability analysis using bode plot

Bode Diagram
Gm = −10.5 dB (at 2.24 rad/sec) , Pm = −23.7 deg (at 3.91 rad/sec)

100

50

Magnitude (dB)
−ve gain margin
0

−50
Unstable System

−100
−90

−135
Phase (deg)

−180
−ve phase
−225 margin

−270
−2 −1 0 1 2
10 10 10 10 10
Frequency (rad/sec)

100
Figure 10: Bode plot of s(s+1)(s+5)

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 32

 Lead Compensators

jω
A lead compensator is given by following transfer
function
Ts + 1
Gc (s) = α 0<α<1
αT s + 1
× •
We see that the zero is always located to the right
1
σ
− αT − T1
of the pole in complex plane.

The maximum phase angle contributed by a lead compensator is given by

1−α
sin φm =
1+α
1
at a frequency ωm = √
T α

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 33

 Lead compensator

Bode Diagram
8

7 a<1 20 log 1/a

Magnitude (dB)
5 20 dB/decade
4

0
20

15 Maximum phase angle

Phase (deg)

10

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

1+s
Figure 11: Bode plot of Gc (s) = 1+0.5s

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 34

 Lead compensator design
Consider following second order system

4
G(s) =
s(s + 2)

Design a compensator for the system so that the static velocity error constant
Kv = 20 sec−1 and phase margin is at least 50◦ .
Design steps:

• The open loop transfer function of the compensated system is given by

Ts + 1 Ts + 1
Gc (s)G(s) = K G(s) = KG(s)
1 + αT s 1 + αT s
where 0 < α < 1 and K = Kc α. Kc is a gain constant. The attenuation
factor α is assimilated into constant gain factor K . Determine gain K to satisfy
the requirement on given static error constant.

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 35

 Lead compensator design

Ts + 1 4
Kv = lim sGc (s)G(s) = lim s K = 20
s→0 s→0 1 + αT s s(s + 2)
This gives K = 10.
• Using the gain K , draw a Bode diagram of KG(jω). Evaluate phase margin.
The phase margin is about 18◦ .

• Determine the necessary phase lead angle φ to be added to the system.

For a PM of 50◦ , a phase lead angle of 32◦ is required. However, in order to
compensate for the shift in gain crossover frequency due to the lead
compensator, we assume that the maximum phase lead required
φm = 32 + 6 = 38◦ .
1−α
• Using equation sin φm = 1+α , Determine the attenuation factor α.
For φm = 38◦ , α = 0.24.

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 36

 Lead compensator design

Bode Diagram
Gm = Inf dB (at Inf rad/sec) , Pm = 18 deg (at 6.17 rad/sec)

50

System: untitled1

Magnitude (dB)
Frequency (rad/sec): 8.95
0
Magnitude (dB): −6.24
New
Gain crossover
Frequency

−50
−90
Phase (deg)

−135 System: untitled1

System: untitled1 Frequency (rad/sec): 6.13
Frequency (rad/sec): 1.68 Phase (deg): −162
Phase (deg): −130

−180
−1 0 1 2
10 10 10 10
Frequency (rad/sec)

Figure 12: Bode plot of gain adjusted but uncompensated system KG(jω)

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 37

 Lead compensator design

• Determine the frequency ω = ωm where

20 log |Gc (jωm )G(jωm )| = 0dB
 
 jωm T + 1 
20 log |KG(jωm )| = −20log  
jαωm T + 1 
1 1
= −20 log √ (∵ ωm = √ )
α T α
Get this frequency from the magnitude plot of KG(jω). This is our new gain
crossover frequency and maximum phase shift φm occurs at this frequency.
Here, −20 log √1α = −6.2 dB which occurs at ωm = 9 rad/sec.
1
• Determine the time constant T from the equation ωm = √
T α
.
Here, T = 0.2278 seconds.
The compensated open loop transfer function is given by

(0.2278s + 1)40
Gc (s)G(s) =
s(s + 2)(0.0547s + 1)
July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 38
 Lead compensator design

Bode Diagram
Gm = Inf dB (at Inf rad/sec) , Pm = 50.6 deg (at 8.92 rad/sec)

60

40

20

Magnitude (dB)
0

−20

−40

−60

−80
−90
Phase (deg)

−135

−180
−1 0 1 2 3
10 10 10 10 10
Frequency (rad/sec)

Figure 13: Bode plot of compensated system

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 39

 Lead compensator design

Step Response

1.4

1.2

Amplitude

0.8

0.6

0.4

0.2

0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9
Time (sec)

Figure 14: Closed loop step response of the compensated system

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 40

 Lead compensator design

Discussion

• Lead compensator is a high-pass filter.

• It adds more damping to the closed-loop system.
• Bandwidth of closed loop system is increased. This leads to faster time
response.

• The steady state error is not affected.

• In lead compensator design, the phase of forward-path transfer function in the
vicinity of gain crossover frequency is increased.

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 41

 Lag Compensator

jω
A lag compensator is given by following
transfer function
Ts + 1
Gc (s) = α α>1
αT s + 1
• ×
We see that the pole is always located to σ
− T1 1
− αT
the right of the zero in complex plane.

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 42

 Bode Diagram
0

a>1
−20 dB/decade

Magnitude (dB)
−5

−10
20 log 1/a

−15
0
Phase (deg)

−30

Maximum phase angle

−60
−2 −1 0 1 2
10 10 10 10 10
Frequency (rad/sec)

1+s
Figure 15: Bode plot of Gc (s) = 1+5s

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 43

 Lag compensator Design

Consider following open loop transfer function

1
G(s) =
s(s + 1)(0.5s + 1)
Design a compensator so the velocity error constant is Kv = 5 sec−1 , the PM is
at least 40◦ and GM is atleast 10 dB.

Design steps:

• The open loop transfer function of the compensated system is given by

Ts + 1 Ts + 1
Gc (s)G(s) = K G(s) = KG(s)
1 + αT s 1 + αT s
where α > 1 and K = Kc α. Determine forward path gain K so as to satisfy
the requirement of steady state performance.

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 44

 Lag compensator design

Ts + 1 K
Kv = lim sGc (s)G(s) = lim s =K=5
s→0 s→0 1 + αT s s(s + 1)(0.5s + 1)
• Plot the bode diagram of KG(jω).
• Assuming that the PM is to be increased, locate the frequency at which the
desired phase margin is obtained, on bode plot. To compensate for excessive
phase lag, the required phase margin is the specified PM + 5 to 12◦ . Call the
corresponding frequency new gain crossover frequency ωg0 .
The new gain crossover frequency for a PM of 40 + 12 = 52◦ is ωg = 0.5
rad/sec.

• To bring the magnitude curve down to 0 dB at this new gain crossover

frequency, the phase-lag controller must provide the amount of attenuation
equal to the value of magnitude curve ωg0 . In other words

1
|KG(jωg0 )| = 20 log10 α>1
α
July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 45
 Lag compensator design

Bode Diagram
Gm = −4.44 dB (at 1.41 rad/sec) , Pm = −13 deg (at 1.8 rad/sec)

100
System: untitled1
Frequency (rad/sec): 0.462
50 Magnitude (dB): 19.6

Magnitude (dB)
0

−50

−100

−150 System: untitled1

−90 Frequency (rad/sec): 0.461
Phase (deg): −128
−135
Phase (deg)

System: untitled1
−180 Frequency (rad/sec): 0.637
Phase (deg): −140
−225

−270
−2 −1 0 1 2
10 10 10 10 10
Frequency (rad/sec)

Figure 16: Bode diagram of KG(jω)

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 46

 Lag compensator design

The magnitude of KG(jωg0 ) is 20 dB and thus we have −20 log α = −20 and
this gives α = 10.
1
• Choose the corner frequency ω = T corresponding to the zero of lag
compensator 1 octave to 1 decade below the new gain crossover frequency ω g0 .
1
We choose the zero of lag compensator at ω = T = 0.1 rad/sec. This gives T
= 10.

• Plot the bode diagram of compensated system.

The compensated open loop transfer function is given by

5(1 + 10s)
KGc (s)G(s) =
s(1 + 100s)(s + 1)(0.5s + 1)

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 47

 Lag compensator design

Bode Diagram
Gm = 14.3 dB (at 1.32 rad/sec) , Pm = 41.6 deg (at 0.454 rad/sec)

150

100

Magnitude (dB)
50

−50

−100

−150
−90

−135
Phase (deg)

−180

−225

−270
−4 −3 −2 −1 0 1 2
10 10 10 10 10 10 10
Frequency (rad/sec)

Figure 17: Bode diagram of compensated system KGc (s)G(s)

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 48

 Lag compensator design

Discussion

• Lag compensator is a low-pass filter.

• The gain crossover frequency is decreased and thus the bandwidth of the
system is reduced.

• The rise and settling time increases.

• The steady state error reduces.
• In phase lag control, the objective is to move the gain crossover frequency to a
lower frequency where desired PM is realized while keeping the phase curve
relatively unchanged at new gain crossover frequency. In other words,
phase-lag control utilizes attenuation of controller at high frequencies.

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 49

 PID control design

Consider following open loop system

(s + 1)
G(s) = 2
s (s + 8)
Design a PID compensator such that the compensated system has a PM of 60 ◦ and
a gain crossover frequency of 5 rad/sec and an acceleration error constant K a = 1.
The PID compensator is of following form

KI
Gc (s) = KP + KD s +
s
KI
Gc (jω) = KP + j(KD ω − )
ω
= |Gc (jω)|(cos θ + j sin θ)

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 50

 design of PID compensator

Bode Diagram
Gm = Inf dB (at Inf rad/sec) , Pm = 17.4 deg (at 0.365 rad/sec)
100

50

Magnitude (dB)
0

−50

−100

−150
−120
Phase (deg)

−150

−180
−2 −1 0 1 2 3
10 10 10 10 10 10
Frequency (rad/sec)

Figure 18: Bode plot of uncompensated system

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 51

 design of PID compensator

System: h
Step Response
Peak amplitude: 1.65
1.8
Overshoot (%): 64.9
At time (sec): 7.89
1.6

1.4

Amplitude 1.2

1
System: h
Settling Time (sec): 71.1
0.8

0.6

0.4

0.2

0
0 10 20 30 40 50 60 70 80 90 100
Time (sec)

Figure 19: Step response of uncompensated closed loop system

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 52

 design of PID compensator

For the PID compensator, we can write

KP = |Gc (jω)| cos θ

KI
KD ω − = |Gc (jω)| sin θ
ω
We know that at gain crossover frequency, |Gc (jωg )||G(jωg )| = 1. This gives
1
|Gc (jωg )| =
|G(jωg )|

Substituting for |Gc (jω)| from previous equation, we get

cos θ
Kp =
|G(jωg )|

Similarly, we have
KI sin θ
K D ωg − =
ωg |G(jωg )|

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 53

 design of PID compensator

Now at ωg = 1 rad/s,
G(jωg ) = 0.1754∠ − 142.1250◦

For the compensated system to have a phase margin of 60◦ at ωg = 1 rad/sec, we

should have

−180 + φm = θ + ∠G(jω) (φm = P M )

θ = −180◦ + 60◦ + 142.1250◦ = 22.1250◦
Hence,
cos 22.1250◦
KP = = 3.9571
0.1754
Lets choose KI = 0, then KD can be computed to be
sin 22.1250◦
KD = + 1 = 3.1471
0.1754
Hence we have a PD compensator Gc (s) = 3.9571 + 3.1471s.

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 54

 design of PID compensator

Bode Diagram
Gm = Inf , Pm = 60 deg (at 1 rad/sec)
150

100

Magnitude (dB)
50

−50
−45

−90
Phase (deg)

−135

−180
−2 −1 0 1 2
10 10 10 10 10
Frequency (rad/sec)

(3.9571+3.1471s)(s+1)
Figure 20: Bode plot of compensated system Gc (s)G(s) = s2 (s+8)

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 55

 design of PID compensator

System: h Step Response

Peak
1.4 amplitude: 1.26
Overshoot (%): 26
At time (sec): 3.24
1.2

1
System: h
Settling Time (sec): 9.89
0.8
Amplitude

0.6

0.4

0.2

0
0 2 4 6 8 10 12 14 16
Time (sec)

Figure 21: Step response of compensated system

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 56

 Summary

Following topics were covered in this lecture

• Frequency domain specifications.

• Bode plot construction
• Relative stability
• Design of Lead and Lag compensators
• PID control design example.

July 11, 2006 Control Systems Laboratory, IIT Kanpur Page 57