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Compensation in this.

Control System | Lag

lead Compensation
Posted on June 17, 2014 by sibasish — No Comments ↓
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Control Engineering
On Off Control Theory and Controller
Closed and Open Loop Control System
Theory of Network Synthesis
Types of Control System
Mathematical Modelling
Steady State and Trainsient State Analysis
Root Locus Technique
Bode Plot
Types of Controllers
Compensation in Control System
State Space Analysis
Non Linearities and Describing Function
Digital Data of Control System
Routh Hurwitz Stability Criterion
Necessary of Compensation
• Methods
Phase Lead Compensation
• Effect
• Advantages
• Disadvantages
Phase Lag Compensation
• Effect
• Advantages
• Disadvantages

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Phase Lag-Lead Compensation

• Advantages

Before I introduce you about various compensation in control

system in detail, it is very essential to know the uses of
compensating networks in the control system. The important uses of
the compensating networks are written below.

Necessary of Compensation
1. In order to obtain the desired performance of the system, we
use compensating networks. Compensating networks are
applied to the system in the form of feed forward path gain
adjustment.
2. Compensate a unstable system to make it stable.
3. A compensating network is used to minimize overshoot.
4. These compensating networks increase the steady state
accuracy of the system. An important point to be noted here is
that the increase in the steady state accuracy brings instability
to the system.
5. Compensating networks also introduces poles and zeros in
the system thereby causes changes in the transfer function of
the system. Due to this, performance specifications of the
system change.

Methods of Compensation
1. Connecting compensating circuit between error detector &
plants known as series compensation.

Series Compensator

2. When a compensator used in a feedback manner called

feedback compensation.

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Feedback Compensator

3. A combination of series and feedback compensator is called

load compensation.

Load Compensator

Now what are compensating networks? A compensating network is

one which makes some adjustments in order to make up for
deficiencies in the system. Compensating devices are may be in the
form of electrical, mechanical, hydraulic etc. Most electrical
compensator are RC filter. The simplest network used for
compensator are known as lead, lag network.

Phase Lead Compensation

A system which has one pole and one dominating zero (the zero
which is closer to the origin than all over zeros is known as
dominating zero.) is known as lead network. If we want to add a
dominating zero for compensation in control system then we have
to select lead compensation network.

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The basic requirement of the phase lead network is that all poles and
zeros of the transfer function of the network must lie on (-)ve real axis
interlacing each other with a zero located at the origin of nearest

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origin.

Given below is the circuit diagram for the phase lead compensation
network.

Phase Lead Compensation Network

From above circuit we get,

Equating above expression of I we get,

Now let us determine the transfer function for the given network and
the transfer function can be determined by finding the ratio of the
output voltage to the input voltage.
So taking Laplace transform of both side of above equations,

On substituting the α = (R1 +R2)/ R2 & T = {(R1R2) /(R1 +R2)} in the

above equation.

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Where T and α are respectively the time constant and attenuation

constant, we have

The above network can be visualized as an amplifier with a gain of

1/α. Let us draw the pole zero plot for the above transfer function.

Pole Zero Plot of Lead Compensating Network

Clearly we have -1/T (which is a zero of the transfer function) is closer

to origin than the -1/(αT) (which is the pole of the transfer
function).Thus we can say in the lead compensator zero is more
dominating than the pole and because of this lead network introduces
positive phase angle to the system when connected in series.

Let us substitute s = jω in the above transfer function and also we

have α < 1. On finding the phase angle function for the transfer
function we have

Now in order to find put the maximum phase lead occurs at a

frequency let us differentiate this phase function and equate it to zero.
On solving the above equation we get

Where, θm is the maximum phase lead angle. And the corresponding

magnitude of the transfer function at maximum θm is 1/a.

Effect of Phase Lead

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Compensation
1. The velocity constant Kv increases.
2. The slope of the magnitude plot reduces at the gain crossover
frequency so that relative stability improves & error decrease
due to error is directly proportional to the slope.
3. Phase margin increases.
4. Response become faster.

Advantages of Phase Lead Compensation

Let us discuss some of the advantages of the phase lead
compensation-

1. Due to the presence of phase lead network the speed of the

system increases because it shifts gain crossover frequency
to a higher value.
2. Due to the presence of phase lead compensation maximum
overshoot of the system decreases.

Disadvantages of Phase Lead

Compensation
Some of the disadvantages of the phase lead compensation –

1. Steady state error is not improved.

Phase Lag Compensation

A system which has one zero and one dominating pole ( the pole
which is closer to origin that all other poles is known as dominating
pole) is known as lag network. If we want to add a dominating pole for
compensation in control system then, we have to select a lag
compensation network.

The basic requirement of the phase lag network is that all poles &
zeros of the transfer function of the network must lie in (-)ve real axis
interlacing each other with a pole located or on the nearest to the
origin.

Given below is the circuit diagram for the phase lag compensation
network.

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Phase Lag Compensating Network

We will have the output at the series combination of the resistor R2

and the capacitor C.
From the above circuit diagram, we get

Now let us determine the transfer function for the given network and
the transfer function can be determined by finding the ratio of the
output voltage to the input voltage.

Taking Laplace transform of above two equation we get,

On substituting the T = R2C and β = {(R2 + R1 ) / R1} in the above

equation (where T and β are respectively the time constant and dc
gain), we have

The above network provides a high frequency gain of 1 / β. Let us

draw the pole zero plot for the above transfer function.

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Pole Zero Plot of Lag Network

Clearly we have -1/T (which is a zero of the transfer function) is far to

origin than the -1 / (βT)(which is the pole of the transfer function).
Thus we can say in the lag compensator pole is more dominating
than the zero and because of this lag network introduces negative
phase angle to the system when connected in series.

Let us substitute s = jω in the above transfer function and also we

have a < 1. On finding the phase angle function for the transfer
function we have

Now in order to find put the maximum phase lag occurs at a

frequency let us differentiate this phase function and equate it to zero.
On solving the above equation we get

Where, θm is the maximum phase lead angle. Remember β is

generally chosen to be greater than 10.

Effect of Phase Lag Compensation

1. Gain crossover frequency increases.
2. Bandwidth decreases.
3. Phase margin will be increase.
4. Response will be slower before due to decreasing bandwidth,
the rise time and the settling time become larger.

Advantages of Phase Lag Compensation

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Let us discuss some of the advantages of phase lag compensation –

1. Phase lag network allows low frequencies and high

frequencies are attenuated.
2. Due to the presence of phase lag compensation the steady
state accuracy increases.

Disadvantages of Phase Lag

Compensation
Some of the disadvantages of the phase lag compensation –

1. Due to the presence of phase lag compensation the speed of

the system decreases.

Phase Lag-Lead Compensation

With single lag or lead compensation may not satisfied design
specifications. For an unstable uncompensated system, lead
compensation provides fast response but does not provide enough
phase margin whereas lag compensation stabilize the system but
does not provide enough bandwidth. So we need multiple
compensators in cascade.

Given below is the circuit diagram for the phase lag- lead
compensation network.

Lag Lead Compensating Network

Now let us determine transfer function for the given network and the
transfer function can be determined by finding the ratio of the output
voltage to the input voltage.

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On substituting the αT1 = R1C1, R2C2 = βT2, R1R2C1C2 = αβT1T2

and T1T2 = R1R2C1C2 in the above equation (where T1, T2 and α, β
are respectively the time constants and attenuation constants). We
have

Let us draw the pole zero plot for the above transfer function.

Pole Zero Plot Lag Lead Network

Clearly we have -1/T (which is a zero of the transfer function) is far to

the origin than the -1/(βT)(which is the pole of the transfer function).
Thus we can say in the lag-lead compensation pole is more
dominating than the zero and because of this lag-lead network may
introduces positive phase angle to the system when connected in
series.

Advantages of Phase Lag-Lead

Compensation
Let us discuss some of the advantages of phase lag- lead
compensation-

1. Due to the presence of phase lag-lead network the speed of

the system increases because it shifts gain crossover
frequency to a higher value.
2. Due to the presence of phase lag-lead network accuracy is
improved.

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