CHAPTER 10 COMPENSATOR DESIGN USING

BODE PLOTS

10.1 (a) From the Bode plot of G(jw)H(jw), we find that GM = 6 dB and
FM = 17º
(b) Now the gain and phase of the compensator with Kc = 1 are added to
the Bode plot. From the new Bode plot we find that the gain must be
raised by 1.5 dB to have a gain margin of 6 dB.
20 log Kc = 1.5 gives Kc = 1.2
10.2 (a) From the Bode plot of G(jw)H(jw) we find that wg = 4.08 rad/sec; FM
= 3.9º; GM = 1.6 dB
(b) Now the gain and phase of the compensator are added to the Bode plot.
From the new Bode plot, we find that
wg = 5 rad/sec; FM = 37.6º; GM = 18 dB
The increase in phase and gain margins implies that lead compensation
increases margin of stability. The increase in wg implies that lead
compensation increases speed of response.
10.3 (a) Kv = lim sD(s)G(s) = K = 12
s® 0
(b) From the Bode plot and Nichols chart analysis of the system with
K=12, we find that FM = 15º; wb = 5.5 rad/sec; Mr = 12 dB; wr = 3.5
rad/sec
(c) The phase margin of the uncompensated system is 15º. The phase lead
required at the gain crossover frequency of the compensated magnitude
curve = 40º – 15º + 5º = 30º
1 - sin 30 º
a = = 0.334
1 + sin 30 º
The frequency at which the uncompensated system has a magnitude of
– 20 log (1/ a ) = – 4.8 dB is 4.6 rad/sec. Selecting this frequency as
gain crossover frequency of the compensated magnitude curve, we set
1
= 4.6
at
The transfer function of the lead compensator becomes
12 ( 0 .376 s + 1)
D(s) =
0 .128 s + 1
(d) FM = 42º; wb = 9 rad/sec; Mr = 3 dB;
wr = 4.6 rad/sec
 SOLUTION MANUAL 99

10 ( 0.5s + 1)
10.4 Lead compensator D(s) = meets the phase margin and steady-
0.1s + 1
state accuracy requirements. These requirements are also met by the lag
10 (10 s + 1)
compensator D(s) =
100s + 1
In this particularly simple example, specifications could be met by either
compensation. In more realistic situations, there are additional performance
specifications such as bandwidth and there are constraints on loop gain.
Had there been additional specifications and constraints, it would have
influenced the choice of compensator (lead or lag).
105. The settling time and peak overshoot requirements on performance may be
translated to the following equivalent specifications:
z = 0.45 ; wn = 2.22
z is related to the phase margin by the relation

z
FM » = 45º
0.01
wn is related to the bandwidth wb by the relation
1/ 2
wb = wn 1 - 2z 2 + 2 - 4z 2 + 4z 4

For a closed-loop system with z = 0.45, we estimate from this relation

wb = 1.33 wn
Therefore, we require a closed-loop bandwidth wb ~
- 3. The gain K of the
compensator
K (t s + 1)
D(s) =
at s + 1

may be set a value given by K = w 2n . This gives K ~- 5. To provide a

suitable margin for settling time, we select K = 10.
The phase margin of the uncompensated system is 0º because the
double integration results in a constant 180º phase lag. Therefore, we must
add a 45º phase lead at the gain crossover frequency of the compensated
magnitude curve. Evaluating the value of a, we have
1 - sin 45º
a = = 0.172
1 + sin 45º
To provide a margin of safety, we select a = 1/6.
100 CONTROL SYSTEMS: PRINCIPLES AND DESIGN

The frequency at which the uncompensated system has a magnitude of

– 20 log (1/ a ) = – 7.78 dB is 4.95 rad/sec. Selecting this frequency as
the gain crossover frequency of the compensated magnitude curve, we set
1
= 4.95
at
The closed-loop system with the compensator

10 ( 0 .083s + 1)
D(s) =
0.5 s + 1
satisfies the performance specifications.

A A
10.6 Kv = = = 20
ess 0.05 A
K = 20 realizes this value of Kv.
From the Bode plot of

20
G(jw) =
jw ( j 0.5w + 1)
we find that the phase margin of the uncompensated system is 18º. The
phase lead required at the gain crossover frequency of the compensated
magnitude curve = 45º – 18º + 3º = 30º.
1 - sin 30 º
a = = 0.334
1 + sin 30 º
The frequency at which the uncompensated system has a magnitude of
– 20 log (1/ a ) = – 4.8 dB is 8.4 rad/sec. Selecting this frequency as the
gain crossover frequency of the compensated magnitude curve, we set

1
= 8.4
at
Therefore the compensator
0.2 s + 1
D(s) =
0.0668s + 1
The phase margin of the compensated system is found to be 43.7º. If we
desire to have exactly a 45º phase margin, we should repeat the steps with a
decreased value of a.
From the Nichols chart analysis of the compensated and uncompensated
systems, we find that the lead compensator has increased the bandwidth
from 9.5 rad/sec to 12 rad/sec.
 SOLUTION MANUAL 101

10.7 From the Bode plot of

20
G(jw) =
jw ( j 0.5w + 1)
we find that the phase margin of the uncompensated system is 18º. To
realize a phase margin of 45º, the gain crossover frequency should be
moved to w g¢ where the phase angle of the uncompensated system is:
– 180º + 45º + 5º = – 130º.
From the Bode plot of uncompensated system, we find that w g¢ = 1.5. The
attenuation necessary to cause w g¢ to be the new gain crossover frequency
is 20 dB. The b parameter of the lag compensator can now be calculated.
20 log b = 20
This gives b = 10. Placing the upper corner frequency of the compensator a
decade below w g¢ , we have 1/t = 0.15.

Therefore, the lag compensator

6.66 s + 1
D(s) =
66.6 s + 1
As a final check, we numerically evaluate the phase margin and the
bandwidth of the compensated system. It is found that that FM = 45º and
wb = 2.5 rad/sec.
10.8 From the steady-state requirement, we set K = 100. From the Bode plot of

100
G(jw) =
jw ( j 0.1w )( j 0.2w + 1)
we find that the phase margin is – 40º, which means that the system is
unstable. The rapid decrease of phase of G(jw) at the gain crossover
frequency wg = 17 rad/sec, implies that single-stage lead compensation may
be ineffective for this system. (The reader should, in fact, try a single-stage
lead compensator). For the present system, in which the desired Kv is 100,
a phase lead of more than 85º is required. For phase leads greater than 60º,
it is advisable to use two or more cascaded stages of lead compensation
(refer Fig. 10.15). The design approach may be that of achieving a portion
of the desired phase margin improvement by each compensator stage.
We first add a single-stage lead compensator that will provide a phase
lead of about 42.5º, i.e., the compensator will improve the phase margin to
about 2.5º.
102 CONTROL SYSTEMS: PRINCIPLES AND DESIGN

Since the phase curve of the Bode plot of the uncompensated system at the
gain crossover frequency has a large negative slope, the value of a = 0.19
given by
1 - sin 42.5º
a =
1 + sin 42.5º
will not yield a phase margin of 2.5º. In fact, when we set a = 0.08 and
t = 0.1, the single-stage compensator improves the phase margin to 3º.
0.1s + 1
Therefore D1(s) =
0.008s + 1
Notice that the single-stage lead compensator not only improves the phase
margin, but also reduces the slope of the phase curve of the gain crossover
frequency. By adding another stage of the compensator with D2(s) = D1(s),
we obtain

100( 0.1s + 1)
D2(s)D1(s)G(s) =
s( 0.2 s + 1)( 0.008s + 1) 2
Note that pole and zero at s = – 10 cancel each other.
The final compensated system has a phase margin of 45º.
2500 K
10.9 G(s) =
s ( s + 25)
K = 1 satisfies the steady-state performance requirement. The phase margin
of the uncompensated system, read at the gain crossover frequency wg = 47
rad/sec, is 28º.
The phase lead required at the gain crossover frequency of the
compensated magnitude curve = 45º – 28º + 8º = 25º
1 - sin 25º
a = = 0.405
1 + sin 25º
The frequency at which the uncompensated system has a magnitude of
– 20 log (1/ a ) = – 3.93 dB is 60 rad/sec. Selecting this frequency as gain
crossover frequency of the compensated magnitude curve, we set

1
= 60
at
The transfer function of the lead compensator is
0.026 s + 1
D(s) =
0.01s + 1
 SOLUTION MANUAL 103

The phase margin of the compensated system is found to be 47.5º. By

Nichols chart analysis, it is found that the lead compensator reduces the
resonance peak from 2 to 1.25 and increases the bandwidth from 74 to 98
rad/sec.
10.10 The phase margin of the uncompensated system
2500 K
G(s) = ;K=1
s ( s + 25)
read at the gain crossover frequency wg = 47 rad/sec is 28º. To realize a
phase margin of 45º, the gain crossover frequency should be moved to w ¢g
where the phase angle of the uncompensated system is:
– 180º + 45º = – 135º.
From the Bode plot of the uncompensated system we find that w g¢ = 25.
Since the lag compensator contributes a small negative phase when the
upper corner frequency of the compensator is placed at 1/10 of the value of
w g¢ , it is a safe measure to choose w g¢ at somewhat less than 25 rad/sec,
say, 20 rad/sec.
The attenuation necessary to cause w ¢g = 20 to be the new gain crossover
frequency is 14 dB.
The b parameter of the lag compensator can now be calculated.
20 log b = 14. This gives b = 5
Placing the upper corner frequency of the compensator a decade below w g¢ ,
we have 1/t = 2. Therefore the lag compensator
0.5s + 1
D(s) =
2.5s + 1
From the Bode plot–Nichols chart analysis we find that the compensated
system has
FM = 51º; Mr = 1.2 and wb = 27.5 rad/sec.
10.11 Kv = lim sG(s) = 5
s®0

From the Bode plot we find that the uncompensated system has a phase
margin of – 20º; the system is therefore unstable.
We attempt a lag compensator. This choice is based on the observation
made from Bode plot of uncompensated system that there is a rapid
decrease in phase of G(jw) near wg. Lead compensator will not be effective
for this system.
104 CONTROL SYSTEMS: PRINCIPLES AND DESIGN

To realize a phase margin of 40º, the gain crossover frequency should be

moved to w g¢ where the phase angle of the uncompensated system is:

– 180º + 40º + 12º = – 128º

From the Bode plot of the uncompensated system, it is found that w g¢ = 0.5
rad/sec. The attenuation necessary to cause w g¢ to be the new gain crossover
frequency is 20 dB. The b parameter of the lag compensator can now be
calculated.
20 log b = 20. This gives b = 10
Since we have taken a large safety margin of 12°, we can place the upper
corner frequency of the compensator at 0.1 rad/sec, i.e., 1/t = 0.1. Thus the
transfer function of the lag compensator becomes
10 s + 1
D(s) =
100 s + 1
From the Bode plot of compensated system we find that the phase margin is
about 40° and the gain margin is about 11 dB.
10.12 It easily follows that K = 30 satisfies the specification on Kv. From the
Bode plot of

30
G(jw) =
jw ( j 0.1w + 1)( j 0.2w + 1)
we find that gain crossover frequency is 11 rad/sec and phase margin is
– 24º. Nichols chart analysis gives wb = 14 rad/sec.
If lead compensation is employed, the system bandwidth will increase still
further, resulting in an undesirable system which will be sensitive to noise.
If lag compensation is attempted, the bandwidth will decrease sufficiently
so as to fall short of the specified value of 12 rad/sec, resulting in a sluggish
system. These facts can be verified by designing lead and lag compensa-
tors. We thus find that there is need to go in for lag-lead compensation.
Since the full lag compensator will reduce the system bandwidth
excessively, the lag section of the lag-lead compensator must be designed
so as to provide partial compensation only. The lag section, therefore,
should move the gain crossover frequency to a value higher than the gain
crossover frequency of the fully lag-compensated system. We make a
choice of new gain crossover frequency as w g¢ = 3.5 rad/sec. The
attenuation necessary to cause w g¢ to be the new gain crossover frequency
is 18.5 dB. This gives the b parameter of the lag section as
20 log b = 18.5; b = 8.32, say, 10
 SOLUTION MANUAL 105

Placing the upper corner frequency of the lag section at 1/t1 = 1, we get the
transfer function of the lag section as
t 1s + 1 s +1
D1(s) = =
bt 1s + 1 10 s + 1
It is found that the lag-section compensated system has a phase margin of
24º.
We now proceed to design the lead section. The implementation of the lag-
lead compensator is simpler if a and b parameters of the lead and lag
compensators, respectively, are related as a = 1/b. Let us first make this
choice. If our attempt fails, we will relax this constraint on a.
The frequency at which the lag-section compensated system has a
magnitude of – 20 log (1/ a ) = – 10 dB is 7.5 rad/sec. Selecting this
frequency as gain crossover frequency of the lag-lead compensated
magnitude curve, we set

1
= 7.5
at2

The transfer function of the lead-section becomes

t 2s + 1 0 .422 s + 1
D2(s) = =
at 2 s + 1 0.0422 s + 1

The analysis of the lag-lead compensated system gives FM = 48º and

wb = 13 rad/sec.

(ln M p ) 2
10.13 z 2 =
(ln M p ) 2 + p 2
M p = 0.2 ® z = 0.456
p
tp =
wn 1-z2
tp = 0.1 ® wn = 35.3
wb = wn [1 - 2z 2 + 2 - 4z 2 + 4z 4 ]1/ 2
= 46.576
2z
FM = tan–1
4z + 1 - 2z 2
4

~
- 48º
106 CONTROL SYSTEMS: PRINCIPLES AND DESIGN

In order to meet the specification of Kv = 40, K must be set at 1440. From

the Bode plot of

144000
G(jw) =
jw ( jw + 36)( jw + 100)
we find that the gain crossover frequency is 29.7 rad/sec and phase margin
is 34º.
The phase lead required at the gain crossover frequency of the compensated
magnitude curve = 48º – 34º + 10º = 24º
1 - sin 24 º
a = = 0.42
1 + sin 24 º
The frequency at which the uncompensated system has a magnitude of
– 20 log (1 / a ) = – 3.77 dB is 39 rad/sec. Selecting this frequency as gain
crossover frequency of the compensated magnitude curve, we set
1
= 39
at
The transfer function of the lead compensator becomes
1440(0.04 s + 1)
D(s) =
0.0168s + 1
It can easily be verified by Nichols chart analysis that the bandwidth of the
compensated system exceeds the requirement. We assume the peak time
specification is met. This conclusion about the peak time is based on a
second-order approximation that should be checked via simulation.
10.14 K = 2000 meets the requirement on Kv. We estimate a phase margin of 65º
to meet the requirement on z.
(a) From the Bode plot we find that the uncompensated system with K =
2000 has a phase margin of zero degrees. From the Bode plot we
observe that there is a rapid decrease of phase at the gain crossover
frequency. Since the requirement on phase lead is quite large, it is not
advisable to compensate this system by a single-stage lead
compensator (refer Fig. 10.15).
(b) Allowing 10º for the lag compensator, we locate the frequency at
which the phase angle of the uncompensated system is:
– 180º + 65º + 10º = – 105º. This frequency is equal to 1.5 rad/sec. The
gain crossover frequency w g¢ should be moved to this value. The
necessary attenuation is 23 dB. The b parameter of the lag com-
pensator can now be calculated.
20 log b = 23. This gives b = 14.2
 SOLUTION MANUAL 107

Placing the upper corner frequency of the compensator one decade

below w g¢ , we have 1/t = 0.15. Therefore the lag compensator

6.66 s + 1
D(s) =
94.66 s + 1
The phase margin of the compensated system is found to be 67º.
(c) The bandwidth of the compensated system is found to be wb = 2.08
rad/sec.
10.15 Approximate relation between fm and z is z » 0.01fm
z= 0.4 ® fm = 40º
Let us try lag compensation.
The realize a phase margin of 40º, the gain crossover frequency should be
moved to w g¢ where the phase angle of the uncompensated system is:
– 180º + 40º + 10º = – 130º. From the Bode plot of the uncompensated
system we find that, w g¢ = 6. The attenuation necessary to cause w g¢ to be
the new gain crossover frequency is 9 dB.
20 log b = 9. This gives b ~
- 3
Placing the upper corner frequency of the lag compensator two octaves
below w g¢ , we have 1/t = 1.5.
The lag compensator
0.67s + 1
D(s) =
2s + 1
Nichols chart analysis of the compensated system gives wb = 11 rad/sec.
Using second-order approximation
1/ 2
wb = wn 1 - 2z 2 + 2 - 4z 2 + 4z 4

we get wn = 10
Therefore ts = 4/zwn = 1 sec
Note that the zero-frequency closed-loop gain of the system is nonunity.
Therefore, the use of – 3 dB bandwidth definition, and the second-order
system correlation between wb and z & wn may result in considerable error.
Final design must be checked by simulation.
10.16(a) From the Bode plot of uncompensated system we find that FM = 0.63º
108 CONTROL SYSTEMS: PRINCIPLES AND DESIGN

(b) Phase margin of the system with the second-order compensator is

9.47º. There is no effect of the compensator on steady-state
performance of the system.
(c) The lead compensator
1 + 0.0378s
D(s) =
1 + 0.0012 s
meets the requirements on relative stability.
10.17 Kv = 4.8