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The document describes designing a lead-lag compensator for a system to meet specifications on overshoot, peak time, and steady state error in response to a ramp input. It provides the transfer function, specifications, and steps to design a lead compensator to meet peak time and overshoot requirements, followed by a lag compensator to reduce steady state error by 10 times, as required. Simulation results confirm the compensated system meets all specifications.

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REDWAN AHMED MIAZEE
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© © All Rights Reserved
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Download as PDF, TXT or read online on Scribd
44 views

FDFDFD

The document describes designing a lead-lag compensator for a system to meet specifications on overshoot, peak time, and steady state error in response to a ramp input. It provides the transfer function, specifications, and steps to design a lead compensator to meet peak time and overshoot requirements, followed by a lag compensator to reduce steady state error by 10 times, as required. Simulation results confirm the compensated system meets all specifications.

Uploaded by

REDWAN AHMED MIAZEE
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 8

Objective:

Apply the knowledge of lag and lead compensators to design a controller to operate a
given system within specification in terms of error and transient response.

Software requirement:
● MATLAB

Home work:
Given equation,
𝑘
𝐺(𝑠) = 𝑠(𝑠+6)(𝑠+10)
.
We need to design a lead-lag compensator with following specification:
Overshoot, OS= 20%
Peak time, 𝑇𝑃 = 𝐻𝑎𝑙𝑓 𝑜𝑓 𝑡ℎ𝑒 𝑜𝑙𝑑 𝑣𝑎𝑙𝑢𝑒..
Steady state error, E(s) = Ten fold of old value.
Input- Ramp time.

Lead compensator:
1 1
ζ= π 2 = π 2 = 0. 45595.
1+( 𝑙𝑛(𝑂𝑆)
) 1+( 𝑙𝑛(0.2)) )

Code for initial response:


clc;
clear all;
close all;
s=tf('s');
G=1/((s+1)*(s+6)*(s+10)); %transfer function
figure;
rlocus(G); %root locus
sgrid(0.45595,0); %zeta=0.45595
[k,poles]=rlocfind(G)
G1=feedback(k*G,1); %actual system
t=0:0.1:50;
figure;
step(t,G1);
stepinfo(G1)
To reduce the settling time by two fold we need to multiply the dominant poles with 2.
So, new pole location = 2*(-2.1706 ± 4.0416j) = -4.3412 ± 8.0832j.
The angle contribution of the new pole,
−1 8.0832 −1 8.0832
𝑡𝑎𝑛 ( 10−4.0416 ) + (180 − 𝑡𝑎𝑛 ( 4.0416 )) = 170. 16987.
New pole has to make an angle contribution of (180-170.16987)=9.8301313
8.0832
New pole location= 𝑡𝑎𝑛(9.83013)
+ 4. 3412 = 50. 99166. Assuming 𝑍𝑙𝑒𝑎𝑑 = 6.
𝑠+6
Lead compensator, 𝐺𝑙𝑒𝑎𝑑 = 𝑠+50.99166

Code for Lead compensator:


clc;
clear all;
close all;
s=tf('s');
G=1/((s+1)*(s+6)*(s+10)); %transfer function
Glead=(s+6)/(s+50.99166);
G=G*Glead;
figure;
rlocus(G); %root locus
sgrid(0.45595,0); %zeta=0.45595
[k,poles]=rlocfind(G)
G1=feedback(k*G,1); %actual system
t=0:0.1:50;
figure;
step(t,G1);
stepinfo(G1)
1.8726
Settling time improvement, 0.8661
= 2. 16211
So, settling time improved by two fold.

Lag compensator:
Final code:
clear all;
close all;
s=tf('s');
G=1/(s*(s+6)*(s+10)); %transfer function
figure;
rlocus(G); %root locus
sgrid(.4559,0); %zeta=0.4559
[k,poles]=rlocfind(G)
G1=feedback(k*G,1); %actual system
Glead=(s+6)/(s+50.99166);

Glag=(s+0.1)/(s+0.01);
rlocus(G*Glead*Glag);
sgrid(.4559,0); %zeta=0.4559
[k,poles]=rlocfind(G*Glead*Glag)
G3=feedback(k*G*Glead*Glag,1); %Lag-lead compensated system
t = 0:0.1:20;
R1=t; %Unit Ramp
[yy1,t,xx1] = lsim(G1,R1,t); %Response of Type I system to Ramp
input
ee1=R1'-yy1; %Error of Type I system to Ramp input
[y1,t,x1] = lsim(G3,R1,t); %Response of Type I system to Ramp
input
e1=R1'-y1; %Error of Type I system to Ramp input
figure;
plot(t,yy1,'r',t,R1,'b', t,ee1
,'k'),xlabel('Time(sec)'),ylabel('Amplitude');
figure;
plot(t,y1,'r',t,R1,'b', t,e1 ,'k'),xlabel('Time
(sec)'),ylabel('Amplitude')
Output:

Lead-lag compensated:
Lead compensated:

𝐿𝑒𝑎𝑑 𝑐𝑜𝑚𝑝𝑒𝑛𝑠𝑎𝑡𝑒𝑑 𝑠𝑡𝑒𝑎𝑑𝑦 𝑒𝑟𝑟𝑜𝑟 0.3353


Improvement in steady state error = 𝐿𝑎𝑔 𝑙𝑒𝑎𝑑 𝑐𝑜𝑚𝑝𝑒𝑛𝑠𝑎𝑡𝑒𝑑 𝑒𝑟𝑟𝑜𝑟
= 0.3328
= 10. 07512
Steady state error is also made ten fold successfully.

Discussion:
In this lab report we designed both lead and lag compensator. For designing the lead lag
compensator we used the root locus of the system. The system’s initial output is taken as
reference from the root locus. Then according to the specification given and proper steps,
we designed a lead compensator. The output of the lead compensator reduced the settling
time by two fold. The system had a set overshoot of 20%. Then we designed a lag
compensator and the lag compensator reduced the steady state error by 10 fold
successfully. According to the design the lead and lag compensator is perfect, but due to
slight error while placing the cursor on root locus in the initial step the output has a
negligible deviation from expected.

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