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Control System

This document discusses various types of compensators that can be used to adjust control systems. It describes series and feedback compensation, as well as lag, lead, and lag-lead compensators. Lag compensators attenuate high frequencies and increase steady state error. Lead compensators improve transient response by adding a dominant zero. The choice of compensator depends on factors like the nature of the signal, available components, designer experience, cost, and power levels.

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Ayanangshu Chakrabarty
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127 views

Control System

This document discusses various types of compensators that can be used to adjust control systems. It describes series and feedback compensation, as well as lag, lead, and lag-lead compensators. Lag compensators attenuate high frequencies and increase steady state error. Lead compensators improve transient response by adding a dominant zero. The choice of compensator depends on factors like the nature of the signal, available components, designer experience, cost, and power levels.

Uploaded by

Ayanangshu Chakrabarty
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Compensators

• Design of control systems


• Gain adjustment to meet its requirements
• Stability point of view
• Introduce a pole or zero to the existing system
• Using electrical, mechanical, pneumatic or any
other components.
Compensators
• Series or cascade compensation
• Feedback or parallel compensation
• Load or series parallel compensation
• State feedback compensation
• Forward compensation with series
compensation
• Feed forward compensation
Series or cascade compensation
• Adjusts the gain which reduces the response
time, peak overshoot.
• Stability gets reduced.
Feedback or parallel compensation
• Increases the response time, more accurate and
stable
Load or series parallel compensation
State feedback compensation
• Costly and impractical for higher order
systems
Forward compensation with series
compensation
Feed forward compensation
Effects of addition of poles
• Root locus of a compensated system will be
shifted towards the right hand side of s plane
• Stability gets lowered.
• Settling time increases.
• Accuracy is lowered by the increase of steady
state error
Effects of addition of zeros
• Root locus of a compensated system will be
shifted towards the left hand side of s plane
• Stability gets increased.
• Settling time decreases.
• Accuracy is improved by the reduction of
steady state error
Types
• Lag compensators
• Lead compensators
• Lag lead compensators

Choices depends
• Nature of signal
• Available components
• Experience of the designer
• Cost
• Power levels at different points
Lag compensator
• It has a simple pole and simple zero in the left
half of s plane with pole nearer to origin.
• Lag means output voltage lags the input
voltage and phase angle of the denominator of
the transfer function is greater than the
numerator.
1
𝑠+
• 𝐺𝑙𝑎 (s)=𝐾𝑐 𝑇
1 𝛽>1
𝑠+
𝛽𝑇
1
• Where 𝛽,T are the constants, 𝐾𝑐 =
𝛽
Effects of Lag compensator
• Attenuates the high frequency noise signals
• Increases the steady state error constants
• Gain cross over fre gets lowered.
• Bandwidth decreases
• Maximum peak overshoot, rise time and settling
time of the system less stable.
• The system becomes more sensitive to the
parameter variations.
• As it acts like PI, less stable
• Transient response becomes slower.
Problem 1
Lead compensator
• Effects of Lead compensator
1. Damping of closed loop system increases
since a dominant zero is added to the system.
2. Peak overshoot, rise time and settling time
increases, transient response gets improved.
3. GM and PM gets increased.
4. Improves relative stability.
5. BW increases, faster time response.
Lead compensator
• Limitations
1. Single phase can provide a maximum phase
lead of 90º. If more than 90 means, multi
stage must be used.
2. Possibility of reaching conditionally stable
condition.
Lead and lag
• Lead-shorter rise time and higher BW.
• Lag-good damping of the system,
Lead compensator problem
Controllers
• Types:
1. Analog
2. Digital
3. Fuzzy

Analog
1. ON-OFF
2. P controller
3. I Controller
4. D controller
5. PI
6. PD
7. PID

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