Bode plot

Answer--a
Answer--d
Answer--a
Bode plot for system with transport
lag
Stability from bode plot
Compensators
• additional subsystem called Compensator or Controller'
has to designed to adjust the parameters of the overall
system to satisfy the design criterion.
Compensation
Configurations
8

 Two basic compensation configurations:

 Cascade compensation

 Feedback compensation

 We will focus on cascade compensation

Lead Compensation
50

 PD compensation utilizes an ideal differentiator

 Amplifies sensor noise
 Active circuitry (opamp) required for analog implementation
 An alternative to PD compensation is lead compensation
 Compensator adds one zero and a higher-frequency pole

𝐷𝑠
𝑠+𝑧
𝑠
𝑐 +𝑝
, where 𝑝𝑐
=𝐾 > 𝑧𝑐
 Pole can be far enough 𝑐removed to have little impact on 2nd-order
dynamics
 Additional high-frequency pole reduces amplification of noise

 Analog implementation realizable with passive components

(resistors and capacitors)

4/20/2025
Lead Compensator
1 1 I
Phase-lead compensator − m
− R
𝐺𝑐 = 𝑈(𝑠) = 𝐾 ; 𝑧<𝑝 𝑇 𝛼𝑇 e
𝑠 𝑠+𝑧 (𝑙𝑒𝑎𝑑) −𝑝
−𝑧
𝐸(𝑠)
• Pole on the left side of zero
𝑠+𝑝
• Equivalent RC circuit, K=1, (𝑍1 = 𝑍2 = C
1+𝑅1 𝐶
𝑅2)
𝐺�
𝑅1
Z1
𝑈(𝑠) 𝑍2 1 𝑠
R1
= = =
,
𝑠� 1+𝛼𝑇𝑠
+ +

𝛼𝑍1=
+𝑍2 𝛼 >
Z2
𝑅 1 +𝑅 2
𝑇 = 𝑅𝐸(𝑠)
e R2 u
1
1 +𝑅 𝑅
,
1+𝑇𝑠
2

𝑅 1 𝑅 221
𝑧=
1
𝑝=
- -
𝐶
𝑇
Or:
, 𝛼𝑇
Nyquist Diagram Bode Diagram

=5  =1.5 
0.4
-0.1
10

Magnitude (abs)
• Bode and Nyquist plots
0.3

0.2

 =5
of lead compensator  =1.5
Imaginary Axis 0.1
-0.6
10
0
60

T=1
-0.1

 =5

Phase (deg)
-0.2
30

 =1.5:0.5:5 -0.3

-0.4 0
0 0.2 0.4 0.6 0.8 1 10
-2
10
-1
10
0
10
1
10
2

Real Axis Frequency (rad/sec)

 Lag Compensation
23

 PI compensation requires an ideal integrator

 Active circuitry (opamp) required for analog implementation
 Susceptible to integrator windup
 An alternative to PI compensation is lag compensation
 Pole placed near the origin, not at the origin
 Analog implementation realizable with passive components
(resistors and capacitors)
 Like PI compensation, lag compensation uses a closely-
spaced pole/zero pair
 Angular contributions nearly cancel
 Transient response nearly unaffected
 System type not increased
 Error is improved, not eliminated
4/20/2025
 Lag Compensator
Design
1 1 I
Phase-lag compensator − m
− R
𝐺𝑐 = 𝑈(𝑠) = 𝐾 ; 𝑧>𝑝 𝛼𝑇 𝑇 e
𝑠 𝑠+𝑧 (𝑙𝑎𝑔) −𝑧
• zero on the𝐸(𝑠)
left side of pole −𝑝
𝑠+𝑝
• Equivalent RC circuit, K=1, (𝑍1 𝑍2 = 𝑅2 +
1 Z1 R1
𝐶
)
=𝑅 ,
=
𝑈(𝑠)
𝐺𝑐
𝑠
+ +
=𝑍 =𝑍
1
1+𝑇
𝑠 1+𝛼𝑇𝑠
Z2
1
𝐸(𝑠)
2
𝑠
R2
2
𝑇 = 𝑅 +
+𝑍
𝛼 =𝑅1+𝑅 < 1
e u
1 𝑅2

𝑅2 𝐶1,
𝑝= ,𝑧 =
C
2 - -
1
Or:
,
𝑇 𝐾=𝛼
𝛼𝑇
Nyquist Diagram Bode Diagram
5 0.9
10
4
 =0.1

Magnitude (abs)
• Bode and Nyquist plots 3

2
10
0.5
Imaginary Axis

of lag compensator
1
0.1
10
0
0

T=1, K=1
-1

Phase (deg)
-2

=0.1  -30

 =0.9:-0.1:0.1
-3

-4  =0.1
-5 -60 -2 -1
-2 0 2 4 6 8 10 12 0 1 2 3
10 10 10 10 10 10
Real Axis Frequency (rad/sec)
 Lead-Lag Compensation
80

 Just as we combined derivative and integral compensation, we can

combine lead and lag as well
 Lead-lag compensation
 Lead compensator improves transient response
 Lag compensator improves steady-state error

 Compensator transfer function:

𝑠+
𝐷 𝑠 𝑠+
𝑧𝑙𝑎𝑙𝑙
=𝐾 𝑠 +
𝑠 +
𝑧 𝑙𝑒𝑎𝑑
𝑝𝑙𝑎𝑙𝑙
and zero - 𝑧𝑙𝑒𝑎𝑑 <
𝑝 𝑙𝑒𝑎𝑑
𝑝𝑙𝑒𝑎𝑑
 Lead compensator adds a pole

 Lag pole/zero close to the origin - 𝑧𝑙𝑎𝑙𝑙 > 𝑝𝑙𝑎𝑙𝑙 ≈ 0

4/20/2025
 Improving Error and Transient
61
Response
 PI (or lag) control improves steady-state error
 PD (or lead) control can improve transient response
 Using both together can improve both error and
dynamic performance
PD or lead compensation to achieve desired transient
response
 PI or lag compensation to achieve desired steady-state
error
 types of compensators:
 Proportional-integral-derivative (PID) compensator
 Lead-lag compensator
4/20/2025
 Lead-Lag
Compensator Design
I
Phase lead-lag compensator 1 1 1 1 m
− − − −
𝑧 <𝑝 R
𝐺𝑐 𝑠 𝐸(𝑠)=
𝑈(𝑠) 𝑠+𝑧
1 𝑠+𝑧 𝑇2
1
; (𝑙𝑒𝑎𝑑) 𝑇1 e
𝑧12 > 𝑝2 𝛽𝑇22
= 𝐾
2
2 −𝑧 −𝑝 −𝑝1
𝑙𝑎𝑔
• For lead-lag, (𝑧1, 𝑝1𝑠+𝑝
) is 1on the left of (𝑧2, −𝑧1 𝛼𝑇1

𝑝2 ) 1 𝑠+𝑝2
C1
1 2
Z1

• For lag-lead, (𝑧 , 𝑝 ) is on the 1right of

R1
2
𝑍1 =1+𝑅 𝐶 𝑅𝑠 , 𝑍2
(𝑧 , 𝑝 )
1
+ +
• Equivalent RC circuit, ( 𝐶2
= 𝑅2 +
1 1

𝐺� =
1+𝛼𝑇 𝑠
) Z2
𝑈(𝑠) 𝑠
R2
1
= 𝐸(𝑠) = 1+𝛽𝑇2𝑠
𝑠�
1+𝑇1𝑠 1+𝑇2𝑠
e u
𝑍 𝑍 +𝑍
𝛼𝑇1 = 1
2 1
𝑅 1𝐶2 , 2𝛽𝑇 2 𝛼𝛽 = 1 𝛼 > 1, 𝛽 <
C2
= 𝑅 𝐶
𝑇1 + 𝑇2 = 𝑅1𝐶1 + 𝑅2𝐶21+ 𝑅1𝐶2, 𝑇1𝑇2
2
- -

= 𝑅1𝐶1𝑅2𝐶2
,

Nyquist Diagram Bode Diagram

• Bode and Nyquist plots of 1

0.8 lead-lag 

Magnitude (abs)
lead-lag 
lead-lag (T1=0.5, T2=0.005) and 0.6

0.4
10
0

lag-lead 
lag-lead (T2=0.5, T1=0.005)
Imaginary Axis

0.2

0
30

compensators with (=3,

-0.2
 lag-lead lead-lag 

Phase (deg)
-0.4
0

=1/3)
-0.6

-0.8 lag-lead 
-1 -30
-2 0 4
0 0.5 1 1.5 2 2.5 3 10 10 2 10 10
Real Axis Frequency (rad/sec)
• A lead-lag compensator combines the effects of a lead
compensator with those of a lag compensator. The result is a
system with improved transient response, stability, and steady-
state error. To implement a lead-lag compensator, first design
the lead compensator to achieve the desired transient response
and stability, and then design a lag compensator to improve the
steady-state response of the lead-compensated system.