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Design three lead compensators for the above given system that will reduce the settling
time by a factor of two while maintaining 30% overshoot. Compare the system
characteristics between the three designs.
Solution:
First determine the characteristics of the uncompensated system operating at 30%
overshoot.
30% overshoot zeta=-log(pOS/100)/sqrt(pi^2+(log(pOS/100))^2)
ζ = 0.358 θ = 180 – cos-1ζ = 180 – rad2deg(acos(zeta)) = 180 – 69.03 = 110.9687o
–Tpc – T4 + T3 – T2 – T1 = (2k+1)π
Tpc = 7.4755 tan(Tpc) = 5.24 / (pc – 2) pc = 2+5.24/tan(deg2rad(Tpc)) = 42
Now the gain for the compensated system
KGH=-1 K=-s1*(s1+4)*(s1+6)*(s1+42) / (s1+5) for s1=-2+5.24i
K = 1.4196e+003 -6.9737e+000i 1420 - j6.9 K = 1420
K=63.21; G=K/s/(s+4)/(s+6), T=feedback(G,1), step(T)
K1=1423; G1=K1*(s+5)/s/(s+4)/(s+6)/(s+42.96), T1=feedback(G1,1), step(T1)
K2=698.1; G2=K2*(s+4)/s/(s+4)/(s+6)/(s+20.09), T2=feedback(G2,1), step(T2)
K3=345.6; G3=K3*(s+2)/s/(s+4)/(s+6)/(s+8.971), T3=feedback(G3,1), step(T3)