KIET/EN/CONTROLSYSTEM/02

PRACTICAL MANUAL

Control System Lab

EXPERIMENT NO. 2
To study the Lead - Lag Compensators

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EXPERIMENT: 2
OBJECT: - To study the Lead - Lag Compensators.
APPARATUS REQUIRED: 1. Experimental kit with (a) the signal sources, (b) the uncompensated system and
(c) Compensators.
(i)

Sine wave (ii) Square wave (iii) Trigger

2. CRO.
THEORY: Phase lead compensation: Phase lead network wherein the phase or output voltage leads the
phase of input voltage for sinusoidal inputs.
The transfer function of a phase lead network

<1
and

R2
R1 + R 2
T = R1C

The transfer function given by the above equation can be expressed in sinusoidal form as
E 0 ( j ) (1+ j T )
=
E i ( j ) (1+ j T )
The two corner frequencies are.
1
= T
Lower corner frequency
And
1
= T
Upper corner frequency
The maximum phase-lead m occur at mid frequency m between upper and lower corner
frequencies.

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1
T
1
T

+ log 10
log 10
1
log 10 m =
2

Therefore

KIET/EN/CONTROLSYSTEM/02

And the phase angle can be calculated as

E 0 ( j )
=tan1 T tan1 T
E i ( j )
= m=

At
And

sinm=

1
1+

1
, where phase angle is m
T

From pole-zero configuration of phase-lead network it is observed that the zero is nearer
to origin as compared to pole hence the effect of zero is dominant, therefore, the phase-lead
network when introduced in series with forward-path of a transfer function the phase shift is
increased.
The bode plot of phase-lead network reveals that the lead network allows to pass high frequencies
are attenuated.
As the gain is reduced at low frequencies additional gain is needed in the system to account for
the reduction in gain.
Phase Lag compensation: A phase lag network where in the phase of output voltage lags the
phase of input voltage for sinusoidal inputs.
The transfer function of phase-lag network is given by
E 0 (s ) 1+ sT
=
E i (s) 1+ sT
>1
R +R
1 2
R2

And

T = R2C
The given transfer function can be expressed in complex form as
E 0 ( j ) (1+ j T )
=
E i ( j ) (1+ j T )
The two corner frequencies are
1
= T
Lower corner frequency
And
1
= T
Upper corner frequency

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The maximum phase-lead

occurs at mid frequency
between upper and lower corner
m
m
frequencies.

So

1
T
1
T

+ log 10
log 10
1
log 10 m =
2

1
T
And the phase angle calculated as
E 0 ( j )
=tan1 T tan1 T
E i ( j )
m=

Therefore

At

= m=

1
T

the phase angle is

1
2
Therefore
tan m =
1
1
And
sinm=
From the pole-zero configuration of phase-lag network it is observed that the pole is nearer to
origin compared to zero, hence the effect pole is dominant, therefore, the phase lag network
when introduce in series with forward-path of a transfer function the phase shift is reduced. The
bode plot of phase-lag network reveals that the lag network allows to pass low frequencies and
high frequencies are attenuated.
Phase Lag-Lead compensation: Introduction of phase lead compensation network in a control
system shift the gain crossover frequency point to a higher value and therefore, the bandwidth is
increased thus improving the speed of response and overshoot is reduced but the steady state error
does not show much improvement.
The use of phase-lag compensation network in a control system shift the gain crossover
frequency point to lower value thus decreasing the bandwidth and improvement in steady state
error is noted but the speed of response is reduced.
The speed of response and steady state error can be simultaneously improved ,if both phaselag
and phase-lead compensation network is used .However, instead of using two separate lag and
lead networks a single network known as phase-lag-lead network shown in fig is used which
combines the effects of both lag and lead networks.
E 0 ( j ) ( 1+s T 1 ) ( 1+s T 2 )
=

E i ( j ) ( 1+s T 1 ) ( 1+s T 2 )
Lead
Lag
Where T1 = R1C1, T2 = R2C2, < 1, > 1 and = 1

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The attenuation factor due to phase lead network is taken in to account by providing suitable
amplification in the system.
The transfer function can be expressed in sinusoidal form as
E 0 ( j ) ( 1+ j T 1 ) ( 1+ j T 2 )
=

E i ( j ) ( 1+ j T 1) ( 1+ j T 2 )
PROCEDURE:Open loop response of plant with compensator:
e. 1. Connect the system as shown in fig.1 Feed sine wave signal of 8Vpp at the input of the
compensator with connecting CRO channel at input and output.
e. 2. The readings between input/output as A and B, and phase relation between them may be
taken either by linear increment as 10,20,30,40,or by octave steps as
10,20,40,80,100,200,400,800 & 1000 Hz.
e. 3. Tabulate the result as given in example tables.
OBSERVATION TABLE:Example table for plotting curve plant+ Lag.
Freq
A Vpp
B Vpp
10
8V
5.00
20
40
80
100
200
400
800
1000
.040

Gain dB
-4.0

degree..
-32

-46.0

-175

Example table for plotting curve plant+(Lead).

Freq
10
20
40
80
100
200
400
800
1000

A Vpp
8v

B Vpp
3.00

Gain dB
-8.5

in degree
0

0.30

-28.5

-155

2 a) Close loop response (process or plant)

A. 1. Connect the system as shown in fig 2.Feed square wave signal of 20 Hz,
Vpp at the input of the error detector.

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A.
2. Adjust K1 (gain) to the value found from the plot (K=3.0 approx, for ess=0.2).fine
adjust K1 for required shape of the response. Sketch it upon the paper.
A. 3. From the transient response measure maximum overshoot Mp,
steady state error ess and the peak time tp.
Compute damping factor and n
Mp
ln

ln M p

=
n=

t p 1 2

A.4. Select square wave frequency 40 Hz, 1Vpp.Adjust gain control for Mp more than 50% , say
60% . Note the gain control setting .Trace the waveform upon paper with record of ess , Mp and tp.
Compute and n .
A.5. Select frequency 80 Hz and adjust gain control (3.7 approx) for minimum ess say . 80,trace
the waveform with Mp,tp .Compute and n .
b) Process or plant with compensator.
1. Connect process with lag compensator and gain 2,in circuit. Set input
square wave frequency at 20 Hz, 1 Vpp at error detector input. Adjust gain
2, control for similar ess ,which is found in step a.3. (say 0.2) .Note the
gain 2 setting from the dial .Trace the waveform upon paper,with record
of Mp,tp and ess.
Compute and n with lag compensate
2. Connect process with lead compensator and gain 2, in the circuit .Set
input square wave frequency at 80 Hz, 1 Vpp at error detector input.
Adjust gain 2, control for similar ess, which is found in step A.3. (say
0.08). Note the gain 2 setting from dial .Trace the waveform upon paper,
with record of Mp ,tp and ess.
Compute and n with lead compensator.
3. Connect process with lag-lead compensator and gain 2,in the circuit
set input square wave frequency at 40 Hz, 1 Vpp at error detector
input . Adjust gain 2, control for similar e ss, which is found in step
A.3. (say0.12 ) .
Note the gain 2, setting from the dial. Trace the
waveform upon paper ,with
record of Mp, tp and ess
4. Compute and n With lag-lead compensator.

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CIRCUIT DIAGRAM:-

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RESULT:

PRECAUTION:1) Draw the traces from CRO properly

2) Keep the connecting lead and ancillary equipment at proper place after completing the
experiment.
3) Always switch off the supply mains of the respective practical set up.
4) Do not temper with the control and switches of equipment.
VIVA VOICE QUESTIONS:1) Why is the effect of zero dominant In the phase-lead network?
2) What is compensation?
3) What are the effects and limitations of phase-lag control?
4) How will you design a phase-lead compensator?
5) Write the transfer function of lead-lag compensator.
INDUSTRIAL APPLICATIONS:-Leadlag compensators influence disciplines as varied as
robotics, satellite control, automobile diagnostics, laser frequency stabilization, and many more.
They are an important building block in analogue control systems, and can also be used in digital
control. Given a control plant, desired specifications can be achieved using compensators. I, D,
PI, PD, and PID, are optimizing controllers which are used to improve system parameters (such as
reducing steady state error, reducing resonant peak, improving system response by reducing rise
time). All these operations can be done by compensators as well.

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