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Compensator Design I - Version 2 PDF

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GECM85
This document provides a solution for designing a compensator for a unity feedback system using frequency response techniques. The system has a forward path transfer function of G(s)=350/(s(s+7)) and is operating with 15% overshoot. The solution involves first calculating the damping ratio and phase margin of the uncompensated system. A lag compensator is then designed with a gain of -22dB at the original phase margin frequency to attenuate the forward path gain at that point. The compensator transfer function is derived as Gc(s)=0.0794/(s+0.354)/(s+0.028). The Bode plot verifies that the gain crossover frequency and phase margin remain approximately

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18 views8 pages

Compensator Design I - Version 2 PDF

Uploaded by

GECM85
This document provides a solution for designing a compensator for a unity feedback system using frequency response techniques. The system has a forward path transfer function of G(s)=350/(s(s+7)) and is operating with 15% overshoot. The solution involves first calculating the damping ratio and phase margin of the uncompensated system. A lag compensator is then designed with a gain of -22dB at the original phase margin frequency to attenuate the forward path gain at that point. The compensator transfer function is derived as Gc(s)=0.0794/(s+0.354)/(s+0.028). The Bode plot verifies that the gain crossover frequency and phase margin remain approximately

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Compensator Design

Tutorial Set - 6

Problem - 1
A unity feedback system is operating with 15%
overshoot .
K
G (s) =
s ( s + 7)
Using frequency response technique , design
a compensator to yield Kv = 50 with the gain
crossover frequency and phase margin
remaining approximately same as that of
uncompensated system

Solution
Computation of Gain:

K 1 K
K v = lim s G ( s ) = lim s
= = 50
s 0
s 0
s ( s + 7) s 7
K = 350
2

1
s

Hence, the forward path transfer function is

350
G ( s) =
s ( s + 7)

Solution - 1
Given that the system is operating with 15%
overshoot.

exp
2

= 0.517

= 0.15

The relation between the phase margin and


the damping ration is

M = tan 1
2 + 1 + 4 4

M = 53.17

Solution - 2
Because of the influence of the compensator in the
compensated system, we consider additional 10. Hence, the
phase margin is considered as 63.17.
From the Bode plot of the forward path transfer function we
get the frequency, M ,3.54 rad/sec and magnitude 22 dB at a
phase (180+63.17) or, 116.83.
This gain is to be attenuated by a Lag compensator
The high frequency asymptote of the compensator should
contribute -22 dB at M such that the compensated system
magnitude is 0 dB at this frequency.
We chose the gain crossover frequency 1 decade below 3.54
rad/sec

Bode Plot of Gain Adjusted OLTF

It is observed that gain is


22 dB at -116.83 degree.
This gain is to be
attenuated by Lag
Compensator

Solution - 3
If the structure of the compensator is

1 s + T1
GC ( s ) =
; >1
1
s + T

1/T=0.345 rad/sec
Then, 20 log 1 = 22 = 12.58

The corner frequency are chosen as


The compensator TF:

1
T

0.354
= 0.028
=
12.58

s + 0.354
GC ( s ) = 0.0794
s + 0.028

Bode Plot

It is verified from Bode plot that GM


&PM remains unchanged for the
compensated system

Bode Plot

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