Classical Control Overview - IV: Dr. Radhakant Padhi

Lecture 6
Classical Control Overview IV
Dr. Radhakant Padhi

Asst. Professor
Dept. of Aerospace Engineering
Indian Institute of Science - Bangalore
LeadLag Compensator Design
Dr. Radhakant Padhi

Asst. Professor
Motivation
z The PID controller involves
three components:
Proportional feedback U ( s)
Integral feedback
Derivative feedback
E ( s)
z Problem in PID design:
Requirement of pure Question: Can the difficulties
integrators and pure of the PID design be avoided,
differentiators, which are without compromising much on
difficult to realize
the basic design philosophy?
Pure integrator pole may travel
to the right half plane because Answer: YES! Through Lead-
of realization inaccuracies.
Lag compensator design.
ADVANCED CONTROL SYSTEM DESIGN 3
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Ideal Integral Compensation for
Improving SS Error: PI Controller
Point A: Desired pole location

(already satisfactory transient
response). No need to change its
location. However, need to K (s + a)
= K +
Ka
= K +
KI
(PI)
improve the steady-state error. s s s

Lag Compensator
(for Improving Steady State Error)
K z1 z2 "
K v0 =
p1 p2 "
K v1 =
( K z1 z2 ")( z c )
( p1 p2 ")( p c )
zc
= K v0 > K v0
pc
(provided z c > p c )
Note: like PI controller
Pole-zero pair should be close to each other
K v1 K v0 , provided ( z c / pc ) 1. Hence put the pair close to origin.
Lag Compensator
(for Improving Steady State Error)
Root locus before compensation Root locus after compensation

No appreciable change in Root locus & closed loop pole location:
No difference in transient response, but improvement in SS error!
Lead Compensator
(for Improving Transient Response)
z Objective:
To improve transient performance, avoiding the pure PD
realization
z Advantages;
Avoids realization difficulties (e.g. avoids requirement of
additional power supplies in electrical circuits)
Reduces noise amplification due to differentiation
z Drawback:
Addition of a pure zero in PD controller tends to reduce the
number of branches of Root Locus that travel to RH plane,
whereas Led compensators are not capable of doing that.

Geometry of Lead Compensator
(Root locus of original system

does not pass through it)
2 1 3 4 + 5 = (2k + 1)1800
where ( 2 1 ) = c : Angular contribution of compensator

Many Possibilities of Lead
Compensators
Different selections results in:

Different gain values to reach the desired point
Different static error constants (that leads to different SS errors);
hence different closed loop response in strict sense!

Lead-Lag Compensator Design
Design Steps: Ref: N. S. Nise:
z First, evaluate the performance of the Control Systems Engineering,
uncompensated system. 4th Ed., Wiley, 2004
z If necessary, design a lead
compensator to improve the transient
response.
z Next, design a lag compensator to
improve the steady state error.
z Simulate the system to be sure that all
requirements have been met.
z Redesign the compensators (i.e. retune
the compensator gains), if the simulation
performance in not satisfactory.

Frequency Response Analysis
Dr. Radhakant Padhi

Asst. Professor
Concept of Frequency Response
M 0 ( )0 ( ) = ( M i ( )i ( ) )( M ( ) ( ) )

SS output sinusoid Frequency Response Input sinusoid
= M i ( ) M ( ) [i ( ) + ( )]
M 0 ( )
M ( ) =
M i ( )
( ) = 0 ( ) i ( )

Concept of Frequency Response
r (t ) = A cos t + B sin t = A2 + B 2 cos t tan 1 ( B / A)
= M i cos (t i ) , where M i = A2 + B 2 , i = tan 1 ( B / A)
After appropriate analysis:

css (t ) = M i M G cos (t + i + G ) where
M 0 0 = ( M i i ) ( M G G ) M G = G ( j ) , G = G ( j )

What is frequency response?
z Magnitude and phase C ( s)
T ( s) = , s = j ,
relationship between R(s)
sinusoidal input and the
C ( j )
steady state output of a T ( j ) = = M
linear system is termed as R( j )
frequency response. M =| T ( j ) | , = T ( j )
z Commonly used frequency
response analysis:
Bode plot
Nyquist plot
Nichols chart

Bode Plot Analysis
Dr. Radhakant Padhi

Asst. Professor
Bode Plot Analysis
z Bode plot consists of two simultaneous graphs:
Magnitude in dB (20 log |G(j)|) vs. frequency (in log)
Phase (in degrees) vs. frequency (in log)
z Steps:
K ( s + z1 )( s + z2 )" ( s + zk )
G ( s) = m
s ( s + p1 )( s + p2 )" ( s + pn )
Then
20log K + 20log | ( s + z1 ) |+ " + 20log| ( s + zk ) |
20 log | G ( j ) | =
20log | s m
| 20 log | ( s + p1 ) | " 20 log| ( s + pn s j
) |
G ( j ) = ( ( s + z1 ) + " + ( s + zk ) ) ( s m + ( s + p1 ) + " + ( s + pk ) )
s j

Bode Diagrams: Advantages
z All algebra is through addition and
subtraction, and that too mostly
through straight line asymptotic
approximations
z Low frequency response contains
sufficient information about the
physical characteristics of most of
the practical systems.
z Experimental determination of a
transfer function is possible
through Bode plot analysis.
Bode Diagrams
z In Bode diagrams, frequency ratios are
expressed in terms of:
Octave: it is a frequency band from 1 to 21.
Decade: it is a frequency band from 1 to
101, where 1 is any frequency value.
z The basic factors which occur frequently
in an arbitrary transfer function are:
Gain K
( j )
1
Integral and derivatives:
( ) , T = 1a
1
First order factors: 1 + j T
( )
1
Quadratic Factors: 1 + 2 ( j n ) + ( j n )
2

Bode Diagrams
z For Constant Gain K, log-magnitude curve is a
horizontal straight line at the magnitude of
(20 log K) dB and phase angle is 0 deg.
z Varying the gain K, raises or lowers the log-
magnitude curve of the transfer function by the
corresponding constant amount, but has no
effect on the phase curve
z Logarithmic representation of the frequency-
response curve of factor ( j ( / a ) + 1) can be
approximated by two straight-line asymptotes
z Frequency at which the two asymptotes meet is
called the corner frequency or break frequency.

Example 1: G ( s) = s + a, G ( j ) = j + a
z At low frequencies, << a, G ( j ) a
z Magnitude/Phase response:
20 log M = 20 log a, G ( j ) = 00
z At high frequencies, >> a, G ( j ) j
z Magnitude/Phase response:
20 log M = 20 log , G ( j ) = 900

z Corner frequency: G ( j ) = j + a = a j + 1
=a a
c
Bode Plot for (s +a)

Bode diagrams of some standard
first order terms
Ref: N. S. Nise,
Control Systems
Engineering, 4th Ed.
Wiley, 2004.
Bode plots for:

a. G(s) = s
b. G(s) = 1/s
c. G(s) = (s + a)
d. G(s) = 1/(s + a)

K ( s + 3)
G (s) =
Example 2: s ( s + 1)( s + 2)

K ( s + 3)
G (s) =
Example 2: s ( s + 1)( s + 2)

First Order Terms: Comparison of
Actual and Asymptotic Behavior
Magnitude comparison Phase comparison

Ref: N. S. Nise, Control Systems Engineering, 4th Ed. Wiley, 2004.

Bode plot for second order
systems
z System with conjugate zeros when 0 < < 1

G ( s ) = s 2 + 2n s + n2
z System with conjugate poles when 0 < < 1
1
G (s) =
s 2 + 2n s + n2
z For complex conjugate poles and zeros, the
slope changes by 40dB/decade

z For low frequencies (<<n),
z Log magnitude becomes
0dB (20log 1= 0), hence low frequency asymptote is a straight horizontal line
z For high frequencies (>>n), the log magnitude becomes
z High frequency asymptote is a straight line with slope of -40dB/decade

z The phase angle of the quadratic factor is

Scaled Response for
Magnitude Plot Phase Plot

Scaled Response for
Magnitude Plot Phase Plot

( s + 3)
G ( s) =
Example 3: ( s + 2)( s 2 + 2 s + 25)
z Second order system is normalized

s
+ 1
G (s) =
3 3
50 s s 2 2
+ 1 + s + 1
2 25 25
z Bode magnitude plot starts from 20logK =

24.44dB and continues until the next
corner frequency at 2 rad/s
Magnitude Plot

Phase plot

Nyquist Plot Analysis
Dr. Radhakant Padhi

Asst. Professor
Presenting frequency response
characteristics (Polar plots)
Frequency response of transfer
functions can be represented by
Polar plots, also called Nyquist
plots, as shown in the figure.
M =| G ( j ) |
= G ( j )

General nature of Nyquist curves
Ref: K. Ogata: Modern
Control Engineering, 3rd Ed.,
Prentice Hall, 1999.

Nyquist plots for several
standard transfer functions
Ref: K. Ogata: Modern

Control Engineering, 3rd Ed.,

Nyquist stability criterion
Special case: (G(s)H(s) has neither poles nor zeros on the j axis)
If a contour, that encircles the entire right half plane is mapped through
G(s)H(s). Then number of closed loop poles, Z, in right half of s-plane equals the
number of open loop poles P, that are in right half of s-plane minus the number
of counter-clockwise revolutions N around -1 of the mapping , i.e. Z = P - N.
a. contour does not enclose

closed-loop poles
b. contour does enclose

closed loop poles

Example 1
Open loop poles in the right half of s-
plane are 2,4, i.e, P = 2
Number of encirclements of (-1), N = 2
Z = P-N = 0, hence the system is
stable.

Example 2:
K
G ( s) =
s ( s + 3)( s + 5)
There are no open loop poles in the right half of s-plane, i.e, P = 0.
Number of encirclements N = 0.
Z = P - N = 0, hence the system is stable.
Value of K which determines the stability is 120.5. It implies if K < 120.5
then system is stable.
if K > 120.5, critical point is encircled and N = -1. In that case Z = P - N
= 1, and hence the system is unstable

Robustness Concepts
Dr. Radhakant Padhi

Asst. Professor
Definitions
The closed loop poles can be determined through characteristic equation
1 + G ( s ) H ( s ) = 0, s = j
G ( s ) H ( s ) = 1 + j 0 = 11800
Phase cross over frequency (pc)
Frequency at which the phase angle of the transfer function becomes -180o
G ( j ) H ( j ) = 1800
Gain cross over frequency (gc)
Frequency at which the magnitude of the open loop transfer function, is unity, i.e.
IG(j)H(j)| =1.
These frequencies play an important role in determining the stability margins of
the system.

Gain and Phase Margins through
Nyquist Plots
= 1800
1
Kg =
| G ( j ) |
System is said to be
Stable, if GM and M both are positive, i.e. pc > gc
Marginally stable, if GM and M both are zero i.e. pc= gc
Unstable, if GM and M both are negative i.e. pc< gc

Gain and Phase Margins through
Bode Plots
z For a stable minimum-phase system, GM/PM indicates how

much gain/phase can be increased before the system
becomes unstable.
z For an unstable system, GM/PM is indicative of how much
gain/phase must be decreased to make the system stable.
Frequency Response Characteristics
z Consider a closed loop transfer function of second order system
n2
G(s) = 2
s + 2n s + n2
z The closed loop frequency response
z The frequency at which the M reaches its peak value is called

resonant frequency (P)
P = n 1 2
2
z At P, the slope of the magnitude curve is zero.

Frequency Response Characteristics
z The maximum value of magnitude is
known as the resonant peak (Mp)
1
MP =
2 1 2
z Bandwidth (BW) is the frequency at
which the magnitude response
curve is 3dB down from its value at
zero frequency .
BW = n (1

2 2
) + 4 4

4 2
+2

Ts ( 4 / ) / n
f ( )

References
(Classical Control Systems)
z N. S. Nise: Control Systems Engineering, 4th Ed.,
Wiley, 2004.
z K. Ogata: Modern Control Engineering, 3rd Ed.,
z J. J. Distefano III et al.: Feedback and Control
Systems, 2nd Ed., Mc Graw Hill, 1990 (Schaums
Outline Series).
z B. N. Pamadi: Performance, Stability, Dynamics and
Control of Airplanes, AIAA Education Series, 1998.
z R. C. Nelson: Flight Stability and Automatic Control,
AIAA Education Series, 1998.
z E. Kreyszig: Advanced Engineering Mathematics, 8th
Ed., Wiley, 2004.
Some Points to Remember
Dr. Radhakant Padhi

Asst. Professor
Some Points to Remember
z Block diagrams are not circuit diagrams!
z Stability and robustness are necessary of any
good control design. After that, one must look
for performance (fast response, optimality etc.)
z High controller gains:
Good benefits Robust stability, Good tracking
Bad effects Control saturation, Noise amplification
z Inter-coupling of variables, nonlinearities,
control and state saturation limits, time delays,
quantization errors etc. are always present:
Classical SISO approach may not be
adequate; Advanced techniques are needed.

Classical Control Overview - IV: Dr. Radhakant Padhi

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Lecture 6

Classical Control Overview IV

Dr. Radhakant Padhi

Dr. Radhakant Padhi

Point A: Desired pole location

ADVANCED CONTROL SYSTEM DESIGN 4

Root locus before compensation Root locus after compensation

ADVANCED CONTROL SYSTEM DESIGN 7

(Root locus of original system

ADVANCED CONTROL SYSTEM DESIGN 8

Different selections results in:

ADVANCED CONTROL SYSTEM DESIGN 9

ADVANCED CONTROL SYSTEM DESIGN 10

Dr. Radhakant Padhi

SS output sinusoid Frequency Response Input sinusoid

ADVANCED CONTROL SYSTEM DESIGN 12

r (t ) = A cos t + B sin t = A2 + B 2 cos t tan 1 ( B / A)

= M i cos (t i ) , where M i = A2 + B 2 , i = tan 1 ( B / A)

After appropriate analysis:

ADVANCED CONTROL SYSTEM DESIGN 13

ADVANCED CONTROL SYSTEM DESIGN 14

Dr. Radhakant Padhi

ADVANCED CONTROL SYSTEM DESIGN 16

ADVANCED CONTROL SYSTEM DESIGN 18

ADVANCED CONTROL SYSTEM DESIGN 19

20 log M = 20 log , G ( j ) = 900

ADVANCED CONTROL SYSTEM DESIGN 21

Bode plots for:

ADVANCED CONTROL SYSTEM DESIGN 22

ADVANCED CONTROL SYSTEM DESIGN 23

ADVANCED CONTROL SYSTEM DESIGN 24

Magnitude comparison Phase comparison

ADVANCED CONTROL SYSTEM DESIGN 25

z System with conjugate zeros when 0 < < 1

ADVANCED CONTROL SYSTEM DESIGN 26

z Log magnitude becomes

z High frequency asymptote is a straight line with slope of -40dB/decade

ADVANCED CONTROL SYSTEM DESIGN 27

Magnitude Plot Phase Plot

ADVANCED CONTROL SYSTEM DESIGN 28

Magnitude Plot Phase Plot

ADVANCED CONTROL SYSTEM DESIGN 29

z Second order system is normalized

z Bode magnitude plot starts from 20logK =

ADVANCED CONTROL SYSTEM DESIGN 31

ADVANCED CONTROL SYSTEM DESIGN 32

Dr. Radhakant Padhi

ADVANCED CONTROL SYSTEM DESIGN 34

ADVANCED CONTROL SYSTEM DESIGN 35

Ref: K. Ogata: Modern

ADVANCED CONTROL SYSTEM DESIGN 36

a. contour does not enclose

b. contour does enclose

ADVANCED CONTROL SYSTEM DESIGN 37

ADVANCED CONTROL SYSTEM DESIGN 38

ADVANCED CONTROL SYSTEM DESIGN 39

Dr. Radhakant Padhi

ADVANCED CONTROL SYSTEM DESIGN 41

ADVANCED CONTROL SYSTEM DESIGN 42

z For a stable minimum-phase system, GM/PM indicates how

z The frequency at which the M reaches its peak value is called

z At P, the slope of the magnitude curve is zero.