Lecture 10: Design with frequency

domain criterias

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Control Techniques- Summary

Design Purposes of Control Systems

➢ Decreasing tracking errors (steady state errors)

➢ Increasing stability margins of the system

➢ Improving (changing) the transient performance of the

systems

➢ Rendering systems less sensitive to parameter changes

➢ Robustifying systems against the external disturbances

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Design Techniques

Direct digital controller design methods

•
• Design in frequency domain criterias

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Classical control- Discrete time

REAL
SYSTEM

Equivalent
system
DESIGN
? MODEL

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Direct Digital Design: Frequency Domain-SUMMARY
Domain-

Since the asymptotic behavior doesn’t seen in z-domain, the design

is performed in w-plane which is similar to the s-plane.

The design in w-plane is exactly the SAME with the continuous

time design.

The compensator D(w) is designed using the continuous time design

method

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Direct Digital Design: Frequency Domain-SUMMARY

Relations between z-plane and w-plane

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Direct Digital Design: Frequency Domain-SUMMARY

Poles - -

Zeros

K is the same in w-plane and s-plane

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Direct Digital Design: Frequency Domain-SUMMARY

COMPANSATORS
Phase lead;

Knowns; To be calculated Example:

PD controller

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Direct Digital Design: Frequency Domain-SUMMARY

Phase lag;

Example: PI controller

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Phase lead+ Phase lag Example PID

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Direct Digital Design : Exmaple in Frequency Domain-SUMMARY

Specifications
2
Compansator

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Direct Digital Design : Exmaple in Frequency Domain-SUMMARY

that makes 2

P. M will decrease, therefore an extra 8o-

10o degrees should be considered

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Direct Digital Design : Exmaple in Frequency Domain-SUMMARY

The frequency that the phase

needed to be added is the
frequencywhere
(0dB) (The frequency where
P.M is determined). Thus, the
frequency where the magnitute
response of the uncompensated
Magnitude contribution of the system is -4.425 dB is needed to
compensator at ω=ωmax be find.

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Direct Digital Design : Exmaple in Frequency Domain-SUMMARY

Let select
Compensator

Compensator

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Direct Digital Design : Exmaple in Frequency Domain

Compansator

Compansator

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Direct Digital Design : Exmaple in Frequency Domain

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D. D. Design in Frequency D: Phase Lag Compensator
tor

Increasing G.M.

Without changing P.M or

increasing it

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D. D. Design in Frequency D: Phase Lag Compensator

1. Design objective: To increase 𝑲𝒅𝒄 and Gain Margin,

Phase Margin at the same time
2. Firstly, 𝑲𝒄 that makes 𝑲𝒅𝒄 as desired is found.
3. Then 𝝎𝟎 and 𝝎𝒑 are determined so that 0dB crossing
frequency is moved to a point on the left that has
required phase margin.
4. While doing this, we need to be sure that the maximum
phase lag provided by D(w) exists at a frequency far away
from the frequency where ∠G (jω)=180.

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D. D. Design in Frequency D: Phase Lag Compensator-Example

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D. D. Design in Frequency D: Phase Lag Compensator-Example
tor

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D. D. Design in Frequency D: Phase Lag Compensator-Example
tor

Design specifications

Compensator

is needed to be selected to obtain

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D. D. Design in Frequency D: Phase Lag Compensator-Example
tor
Bode Diagram for

G.M. is needed to be
increased.

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D. D. Design in Frequency D: Phase Lag Compensator-Example
tor
Phase lag compensator is needed to be used

Recall that

were found!
In order to ensure the phase margin remains at (~60o), 𝝎𝟎=𝟎.𝟏×𝝎𝟏 is selected and
to make 𝝎𝟏 the phase cut-off frequency ( the ferquency where the mangnitute
plot of compensated system crosses 0dB), following condition should be
satisfied

Thus

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D. D. Design in Frequency D: Phase Lag Compensator-Example
tor

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D. D. Design in Frequency D: Phase Lag Compensator-Example
tor
Frequency response of compensated system

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D. D. Design in Frequency D: Phase Lag Compensator-Example
tor

Compensator;

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D. D. Design in Frequency D: Phase Lag Compensator-Example
tor

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D. D. Design in Frequency D: Phase Lag Compensator-Example
tor

Compensated system

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D. D. Design in Frequency D: Phase Lag Compensator-Example
tr

Compensated system in the

presence of disturbance

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D. D. Design in Frequency D: Phase Lag-Lead Compensator-Example
tr

Specifications:

In order to obtain → Kc need to be selected as

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D. D. Design in Frequency D: Phase Lag-Lead Compensator-Example
tr

For →

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D. D. Design in Frequency D: Phase Lag-Lead Compensator-Example
tr

For →

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D. D. Design in Frequency D: Phase Lag-Lead Compensator-Example
tr

Bode diagram of uncompensated sistem for 𝑲𝒄 = 𝟑𝟎

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D. D. Design in Frequency D: Phase Lag-Lead Compensator-Example
tr

Let desing the compansetor that makes Phase Margin 20o

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D. D. Design in Frequency D: Phase Lag-Lead Compensator-Example
tr

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D. D. Design in Frequency D: Phase Lag-Lead Compensator-Example
tr

System which is only compensated with phase lead compensator

Since the magnitute plot does not cross the 0dB, the Phase Margin=∞

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D. D. Design in Frequency D: Phase Lag-Lead Compensator-Example
tr

✓ Since, the system does not have Gain Margin (should not be
negative), the system is unstable. Therefore we need to
design a phase lag compensator.
✓ The phase lag compensator should be placed at lower
frequencies far away from 10rad/s .
✓ The magnitute at 𝜔 = 10𝑟𝑎𝑑/𝑠 is 14.2 dB. Faz lag
compensator should be designed so that this value is
discreased.

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D. D. Design in Frequency D: Phase Lag-Lead Compensator-Example
tr

Compensator should be placed 10 times away from

ω=10rad/s, therefore τ=1 is selected.

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D. D. Design in Frequency D: Phase Lag-Lead Compensator-Example
tr

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D. D. Design in Frequency D: Phase Lag-Lead Compensator-Example
tr

Bode diagram of the system compensated with phase

lead-lag compensator

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D. D. Design in Frequency D: Phase Lag-Lead Compensator-Example
tr

Disturbance applied at 3s

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D. D. Design in Frequency D: Phase Lag-Lead Compensator-Example
tr

Uncompensated system

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D. D. Design in Frequency D: Phase Lag-Lead Compensator-Example
tr

Let desing the compansetor that makes Phase Margin 35o

0.00765

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D. D. Design in Frequency D: Phase Lag-Lead Compensator-Example
tr

System which is only compensated with phase lead compensator

Since the magnitute plot does not cross the 0dB, the Phase Margin=∞

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D. D. Design in Frequency D: Phase Lag-Lead Compensator-Example
tr

✓ Since, the system does not have Gain Margin (should not
be negative), the system is still unstable. Therefore we
need to design a phase lag compensator.
✓ The phase lag compensator should be placed lower
frequencies far away from 10rad/s .
✓ The magnitute at 𝜔 = 10𝑟𝑎𝑑/𝑠 is 23 dB. Faz lag
compensator should be designed so that this value is
discreased.

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D. D. Design in Frequency D: Phase Lag-Lead Compensator-Example
tr

Compensator should be placed 10 times away from

ω=10rad/s, therefore τ=1 is selected.

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D. D. Design in Frequency D: Phase Lag-Lead Compensator-Example
tr

Bode diagram of the system compensated with phase

lead-lag compensator

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D. D. Design in Frequency D: Phase Lag-Lead Compensator-Example
tr

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Design Techniques

➢Direct digital controller design methods

•Designs based on Routh-Locus method

•Design in frequency domain

Emulation Design – (Designing discrete time

controllers by using continuous time controllers)

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Design Techniques: Emulator Design

G(s) D(s)

G(z) D(z)

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