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Lecture 20
Root locus: Lead compensator design
Fall 2008 1
Course roadmap
Modeling Analysis Design
Compensation
Fall 2008 3
Im Im Im
Re Re Re
Add a zero
Im Im Im
Re Re Re
Fall 2008 5
Some remarks
Adding only zero
often problematic because such controller amplifies
the high-frequency noise.
Adding only pole
often problematic because such controller generates
a less stable system (by moving the closed-loop poles
to the right).
These facts can be explained by using
frequency response analysis.
Add both zero and pole!
Fall 2008 6
Lead and lag compensators
C(s) G(s)
Controller Plant
Re Re
Lead compensator
Positive angle contribution Test point Im
Re
-p 1 -z1
Fall 2008 8
Lag compensator
Negative angle contribution Test point Im
Re
-z2 -p 2
Fall 2008 9
Fall 2008 10
Radar tracking system
Fall 2008 11
Desired pole
Analysis of CL system for C(s)=1 Im
Damping ratio ζ=0.5
Undamped natural freq. ωn=2 rad/s
Performance specification
Damping ratio ζ=0.5 Re
Undamped natural freq. ωn=4 rad/s CL pole
with C(s)=1
C(s)=1
Fall 2008 12
Angle and magnitude conditions
(review)
A point s to be on root locus ÅÆ it satisfies
Angle condition
Odd number
Fall 2008 13
Re
There are many ways to design such C(s)!
Fall 2008 15
Lead compensator
Positive angle contribution Test point Im
Re
-p 1 -z1
Triangle
Fall 2008 16
How to select pole and zero?
Draw horizontal line PA Desired pole Im
Draw line PO A P
Draw bisector PB
Draw PC and PD Re
B O
C
D
-p(=-5.4) -z(=-2.9)
Pole and zero of C(s) are shown in the figure.
Fall 2008 17
Im Im
Re Re
Improved stability!
Fall 2008 18
How to design the gain K?
Lead compensator
Magnitude condition
Fall 2008 19
1.2
0.8
0.6
Lead compensator gives
0.4 • faster transient response
0.2
(shorter rise and settling time)
• improved stability
0
0 1 2 3 4 5
Fall 2008 20
Error constants
Step-error constant
5
Unit ramp input
4
Ramp-error constant 2
1
Ramp response
0
0 1 2 3 4 5
Fall 2008 22