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REPRESENTATION the applied
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apensation tormatnrceeq, uencye nrceygion
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regarding
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COMPENSATOR at and steady root excessive plot
Pe is improvement visualize
which both
of s= not pass locus
BT the will the design design is
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= and marginin the to output in reshape
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and both
where, S+
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ata high
a lag gives
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negative in associated steady-state
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acceptable. state called the compensation
T 6.3. in us
> BT
have information
information frequency to
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 - Linear System Design
65
Control Systemy REQUENCYRESPONSE OFFLAG COMPENSATOR
Consider the general form of lag
From equation(6.2) we
get, T- 64) compensator,
G,(9)= (ST+)/T (l+s)
B= w651
From equation(6.3) we get, (sBT +1)/BT(+spT) (6.9)
NETWORK
COMPENSATORUSING ELECTRICAL
REALISATION OF LAG Sinusoidal transter function of lagcompensator is obtained by lettings= jo in equation (6.9).
realised by the R-C network
The lag compensator can be R
joT)
shown in fig 6.4. .G,(jo) a Bl+ (6.10)
Let, E(s) - Input voltage (1+ jeT)
E(9) E,0) When o 0, G,jo) -B (6.11)
E,(S) = Output voltage
input voltage is
In the network shown in fig 6.4, theand C. The output Erom equation(6.1 1) we can say that the lag compensator provides a de gain of B(here B> ). If
applied to the series combination of R., R, of R, and C. ain of thecompensator is not desirable then it can be eliminated by asuitable attenuation.
voltage is obtained across series combination Fig 6.4 : Electrical lag compensator
By voltage division rule,
Let us assume that the gain p is eliminated by a suitable attenuation network. Now, GGo) is
en by,
(sCR, + )/sC (sCR,+1)
E,() = E,(s) (R; + e = E,0) (sC(R, +Ry)+1]/sC E, (8)
sC(R, +R;)+1 1+ joT VI+(oD' Ztan 'aT
(R,+R,+c) G,(j0)= ..(6.12)
1+ joßT/+(oßT)' Ztán 'opT
The transfer funetion of the electrical network is the ratio of output voltage to input voltage.
Transfer function E,(9) CR; (6+ YoR,) The sinusoidal transfer function shown in equation(6. 12) has two comer frequencies and they are
of electrical network E,(0) CR,+R,)s oa,ekg ated as o,, and o
Here, and @¡t.
Since, pT> T,
66)
(R, +R,)/R,) R,C Let, A-G,(jo) in db 20 log .(6.13)
But the transfer function of lag compensator is given by,
At very low frequencies i.e., upto o,,oT <<Iand oßT << 1.
G,(9)= AN 20 log I0
67)
(s+
In the frequency range from oer to oe oT<<Iand oßT >> 1.
On comparing equations (6.6) and (6.7) we get, 1
.A 20 log 20 log
oßT
E,(9) 1 (s+)
E,(9) B(s+ ) (6.8)
At very high frequencies i.e., after o oT >> Iand oßT>>1.
where, T RC and B- (R,+R,)R,
The transfer function of RC with A 20 log 20 log
network as given by equation(6.8) is similar to
an attenuation of l/B (since B> 1, (/B) general form gain
< ). Ifthe theamplifier with
Bcan be attenuation not required then an
connected in cascade with RCnetwork to nullify is
the attenuation. Bdeet plThe
ot approximaie magnitude
TG (Go) isa straight lineplot of lag0dbcompensator
through is shown
upto ,, then it has ainslope
fig 6.5. Thedb/dec
of-20 magnitude
upto plot
o, andof
oIt is a straight line with aconstant gain of 20 log (1/B).
 Linear System Deslgn

Approximate magnitude plot

Control Systemy Onçross multiplication we get,
68
20 log 1/ V/ |20 log U/9)
in db
-db
-20 db/dec
0P

Phase plot...
45°
nuency corresponding to maximum
phase lag, o 6.16)
o (log scale) The maximum phase angle , can
be
below.calculated from the knowledge
relationsbetween and ß are
BT TðO T derived of Band viceversa. The
(o,) (0) (0) From equation (6.14) we get, G(jo)
Fig 6.5: Bode plot of lag compensator
On talking tan on either side
==tan' oT-an' aßT
we get.
Let, 2G, (o) tan = tan [tan oT -tan' oßT tan(A-B) -
tan A-tan B
1+tan AtanB
:tan oT-tan o ßT
As o> 0, ¢ ’ 0 tan(tanoT) - tan(tan oßT)
1+ tan(tan'oT).. tan(tan aßT) T- aßT oT(| -B)
As o o, 0
l+oTB l+B(oTY
As o is varied from 0to o, the phase angle decreases from 0to a negative maximum value afA
atoo,then increases from this maximum value to 0. The phase plot of lag compensator is shown in
fig 6.5. It can be shown that the frequency at which maximum phase lag occurs is the geometric mean of At ) =0m ’mt.tan,=O,T(1-B)
the two comer frequencies. 1+1 240
Frequency of maximum phase lag, om=o 0a = 1 1
1

VpT'T TJ
From the bode plot of lag compensator, we observe that lag compensator has a dc gain of unity Maximum lag angle, 4 =tan 6.17)
while it offers a high frequency gain of (1/B) [In decibels , it is 20 log (1/B)]. It means that the high
frequency noise is attenuated in passing through the network and so the signal to noise ratio is improved. To find the value ofp from .
Atypical choice of B 10.
DETERMINATION OF o_ AND From the equation (6.17), it is evident that (1-p) and 2/B are the two sides of right angled
triangle. Hence construct a right angle triangle as shown in fig 6.6.
The frequency o can be determined by differentiating with respect to o and equating do/do o
zero as shown below.
With reference to figure 6.6, sinom I-p
1+B
From equation (6.12) we get, C AC- VBc AB
Phase of G(jo). =ZG,(jo) = tan oT-tan oßT ..(6.14) sind,, (1+p) =(1-B)
On differentiating the equation (6.14) we get, sin, +Bsin.,, =1-p
1
dÙ do
-(tan'0) = psing,, +B=|-sin¢,m
1+02 .(6.15) B
do
B(sind, + I) =l-sinm 2/9
When o o, do/do-0 Fig 66
Hence, replace o by o, in equation (6.15) and equate to zero.
T ..6.18)
I+ (o,T) pT0 .. B sind,,
1+(o,9T)? 1+(oT' 1+(oBT) 1+sina