Without G , 157

I F
s 586j
C . L .
.
.

= S1 z
= -
0 .

331 1 0 .

st 1 ( 2) + . 00
Sz
= -
2 .

339

This is a cubic
sys (no physical 3) 9 =
0 .
492 0 .
5

To
get 3 use dominant pole.
,
Wn corresponding
Here dominant S1 , z = -0 .

33110 506 ; .
Wn =
0 .

67 rad/sea
12nd onder) _
:
5Wn
=
.
0 331/ smallesteal part Sic
= -

Sont Ts Wn
neg .

.,
wa
= V
Fz wn
=
.
0 586

Rv = . 5
0 1/sea
unit

we are asked to increase k from os to 5

Islady state mor

goes down)

Lead affects transient

comp- part.
If we want to affect
steady state part use
lag comp .

d
pole closes
lo
onig
.

Put pols and close eachother .

zer
vey near
origin vey to
↓ small
^ root locs
in very
cRemaia me
shift
≠

ÖX > 0 X

↓ ↓
poce . 05
0 0. 005

heaven to

co , 07 + lag
compensatos . e

Gls
()
) = K

Ev by multiple of 10
increased 000 s

Choose B= 1
BT
 G (s)
, G(s)) = 1 lat
operating point)
↓
7 F
of .1
C
. .

Moots .

K =
0 966
d
.

small shift
assume
very
S1, , . 31 = 0 So
0
55j put and
=
pres
-

2
.

: not much shift find k

.

its Use thati no find

so a
good guess .
poles again and see

We it there significant
can also find h iteratively
. is
shiff.

SGc(s)h(s) ts
=Lim
Kv
s

1
11
=

lead
lag compensator >
- -

_
a
、
da 1

=σ() (無 ) 器

B72
or Lead
Lag
1 1 U, B > /
Lead (includes K) lag
Bsl
Lag-lead compensator
α

zero closen pole closer

lead part ㎡
people will give 3, w +based on this get
S1x =
-

SWI N52 anj 52 + 25Wps + Wh

^
edelicit 世品器 ←

℃ pd = 1800 -

[b ,
-

(0 , + 0+
9)
biseet + add ±

↓
last class

↓
X X X >
find loc Of pole ,
zeo

for lead comp .

 KV =

Lo 〆 BKS GCs )

Syll quic pho log lead comp.

> (G(s) '

> n
-

closed loop
response =sls)
Limitation on h before we need a compensator ?

ぺ
→ 品 →
迎 →

~
alter , wn
3 lead 1Wz/ < 1WpI O-b-lead tastes

lag slower
-

lve) > I wol

aller Kp
lag
↓
to impross as ever

Lead-lag compensator continued -

5 Wh - specified >
-
desig lead

lag
5 "
ky +

for lead
GCS)
Given ,
required 5 , We

hopen loop 7 . F .

take dominant closed loop poles

一
 1.
Required dominant closed loop poles

S1, -GWn has to be root locus

odj-
= + on
2

find delicit from 1800

2 .
Figure out angles from 512 then
↓

Les) - tab compensated system zopen)

.
3 T
Figure out K, ,
I

∠ (? =
0

↓ satisfied
coudh is
On S1 , 2 this

)∵ 9 )= 2
(

µ
(

but we need whole lead lag =

1

川器 “
hls
LimSa
k
S
=Lim
h
Ku
=
,
5e 0
↓ - after
putting S= 0 ?

specified afoy

from here
get B=?

籔)
0 000 s
s
.

ror 2 社 '

0.005

Only way to make it 1 make I very

: We
high

book
so=
zeroes and
↑
poles very small :
 Even thoug this
lag part does deduct from the
previously
designed 1800 for lag this angleoflag
is made sure to be small .
very
casol

Another of
way solving is assume U p to reduce a paramete
.
· =

new we calculate be from ler and then design lead past

then make sure
layport is small .

=
G (C
Eg )
-

s sto .

↓ )ucan

feedback
鼗 unity
S2+ . 55
0 + 4

2
' ω 20
- g can 2 =
4 ' - 12 , on =
.

n s

Now we want 3
=
0 .

5 wh =
snad/s (given)

(
,

&

Limos)
have
ky =
=
(t) +
ve what we

80 (3)
Givem Required ao
=

Design a
lag-lead since it has both 5, Wh and h requirements

" Si = -2 3 .

= F
Fros x5
;

512 =
-
2 5 .
I 4 33
.

; >
- desired dominant poles
lows I
root :. may
=

2
2 Calculate ¢
wer
required Im
000
99 poles σ add
1000
to make
izi
?
-
>
-
-
120

* ⑦ X
this
- 60 ° get les ∞ Re
0 -

2 s
5
.

ーo

compensate loop poles

.

>
-
of open
pole SoO α
水
รู
 Put 0 cancel the
a atos to 0 5
.

pole
with
lead past
ke ( ) *
:

... a . s '

26
kc =
6 .

Lag part
st
a
5 + 1
B

80 l (s) G (s ) Lis
kv 0 SGc G ( s)
号
=

。Ske
=

80: 8

9
γ= 16 - 0 µ
B =

accordingly

)
-
assume
0 1 and
angle so
=

(for 21
.

↓
. assume small no .

if still
creduce further
may
rl)
= 0 -

0062

GcCs )

=02 )) 65 . ( 0

loop
-sls)
closed

=
0 Cor poles closed loop)

(s
s + 5 .
02) (S + . 006)
0 + yx 6 .
26(s + 0 .
1) = 0
 = 2 4621 + 4 302 + achieved .
S1 , 2
;
:
-
.

C + 4 33 desired
-

S1 , 2 = -
S .
>
;
.

to make better
we can add extra angle while
designing lead (Eg-add o5

Cmare little more than 1800) instead of

600
)
We got
3 0 4967 956 radls close
4
quite
=
Wh =
. .

, .

Rv =
almost same .
(a little more than 801
↓
even better more less ess

This was root locus method.

There method .
is also
frequency

Gus ) = 4

s(5 + 0 .
5)

G (s) G(s) compensated system

>
-
,
.
T F
a 6 26(s + 0 S) (s .
0 1) open loop
, ss) +
.

= .

(S + 5 02)
.
(S + 0
. 006)

closed loop poles for G

,
(s) G(s) =
-2 .

46214 302; .

S1 M
,2

Exam-1 root locs problem

Root lows of G(s) azn

0 0 06
.

Re
㎡
X *
∅
-
'
-
.5
0 025 -0 1 .

= .
0 25
centroid
-
 ↓
Ins

Int
epp
. of
asym with real axis
sase
away
boheer
poss 0
,
> Re

-00000

with
Multiplying Gssı 1

20 log, ok + 20 108 . 0/G(jw))

↓
here just a constant
a
just gain

but if e lead compensator(

ey
=

to
here
gain and
phase both
change with free and
get added
Gcs)

—
会 ~∞
…
" 份
7 ].
-

“
m

兴
s [
"

-
o

、
,
+
R1
=
R, 4S + 1
一
一
 )に ( い+) 、

ニー
G ( s +
前)
Ca ( s +
)

++
. )
s
= ke Bsls

But we need to
get rid of -

other in front.
= put inveiling amp .

告
× 器
=

RcE) 14
lag
=
T R C >
-
=
、 . B

R, 4) Rad - lead

To make
lag-lead
Add resistance in series to 2
.

" .
一
 ES type
Im gues

·
incimncian- \ k is inside G(s)
acjun
3 dift k values

%
M

Kz >
ky) K

苴品
,

K
9 Gijw)kIjan
gain
margin N =
)
Re

: stable---
z
3
10
Mag
k, =
£
Unstable
↓
crit.
Stable
proof e
daim corresponds
>
-

len
ait
freqhes
cwe
wu le
ー
2250)
HIj0) to Cz

sere
.

is Polar plot
1
aIron

Root <
ー
locus

so

lows
in root
we look at
器 K3

'sw' poin (on im axis)

< X
-
x X (Re

Measure
↓
of

distance from
Chelative
stability

stab ?? )
critical point
“
Al points root locs
on
satisfy
1+ Gcs ) H (s] = 0

that's why-
1G(s)U(s)) =
1 (G(siU(S] = 180(2n + 1)
一
土
 Bode
diag comes ponds to
mag
= 1

incain
· man e
>
- here GM > 0

> loga
I
2800
↓
i
critically stable

miscove) how fal from

these lines .

higher gain/phase margin +

higher relative

stability
magin
again
GM 1 G (jw)
20
log
= -

,0

PM = O = 1800 +
d

in a
system parameters are
varying
>
- so
by increasing margin we

ensure that these

variations don't make it

unstable

to
:
design compensator increase PM
,
GM .
鑾 variable
- part

bode diag
.

---
: !
- _

; … ^^^ .

…
…
ー
'

∵
但
—
…
…
…

accs
lead comp -
benaves live
high
filler
pass .
 "
plant

…
h Oldt
d
¿
1
…
_

*
.
"
gain
frez
cross.

品四
…
…

…
design G , 13)

…
…

…四∴ such that

… : m its max
… …

…
logar

we kept uss7
!
Here

extra
- f
: add
to compensate

at
∠ to add
↓
more p M
.
.

new
gain cross

freg
£
val but a
we have new
little lower

than anticipated

<1 dB
lag
+

- >

-represe - 100 pass filler

 than
less od
a gain less than I

decease
gain
were

i
to inc
. M
P .

*
w
∅

this part ocwrs eal

o
make
sue

des -
freg response .

= ()
ac ( s ) αい Clead)
 “

…
“

"
“
~
1

..
: !
> logu
loghe .
I scale
log
middle
want to
place this at sym so in the
gain cross .
Free

long we =
(log to + log
wi =

「
α T

and its
place - t in such a
way
such that at
phase
margin (point/ place)

find
magnitude of G 15)
,
at w,
/logwe
(in Bode

1 ビ “π hange
add to
to &B

h(s)
scale to

add
gain cross
treg shiftsWhen we
multiply he we
may
extra val of
some
phase to
get desired phase margin .
心
Polan plot of jo]
#
stajwT
m
n

Λ Re
↓ ,

we take ac() =

ki)
if k
,
=
1
↓
ema

wmon tungent

Tdnpmax
>
-
Polar plot

ωα
Re
,
ω=0
(

sin d
,=
th
 )
=
G(s) 20
Eg Kr =
.

2) +
given tm soo
=

desired lodB
gm
=

Ans .
Gc (s ) =
hc
α () い
compensated ( (s) 4 (s)

acs )
Gcss ) kc α× 2 20
Limsyo
S = =
cα = 10

← >
- m(s) u (s)
Plot- t
s2 + 2s

Bode diag .

dBA

ー …
\
>

→
nme
doesn't
woss-18 0

l
180 -

>

PM = 180
so"
Reg =

phase cross
,
Need 320
and GM

=∝
370
.:
Pdes = 32 + 5 =

↓
shift
↓ compensate
for gain magin
 sindc
= sin 370 =

249
”
α= = 0 .

3+ )

災庭 We
but we don't know new

at we gain addition
£
gain added due +
to
∞
=
20
10g , 0 (t)
= 6. 04 dB

find point at -6 04 .
in bode plot of 4ss)

L
When mult it shifts
ร

by a, (3) by
+ 6 .
04 and becomes 0 .

↓
new
gain cross over .

∝
this is the new gain
cross over frequency .
ω
c
←
8 78.
d
nere 2 known

T With
so we
get
this
we
new

(8) (前)
Gucss a ( s) = G 023

. 0 s

10dB doesn't to be
gm
so need
anyway a
=

gm is

designed.

In exam add 50 on 100 extra for 6.

Controllability state method .

Observability
Je space
(chap 9 on 10)

2 to 4 the
marks
question >
- so % of
paper