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Control System Class Notes

This document discusses stability and compensator design in control systems, focusing on the characteristics equation, Routh Hurwitz criterion, and Nyquist stability criterion. It explains the role of compensators in improving system performance through various types, including lag, lead, and lag-lead compensators, and their impact on system stability and response. Additionally, it highlights the design of lag/lead compensators using Bode plots and the importance of pole-zero placement for achieving desired system characteristics.

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2 views27 pages

Control System Class Notes

This document discusses stability and compensator design in control systems, focusing on the characteristics equation, Routh Hurwitz criterion, and Nyquist stability criterion. It explains the role of compensators in improving system performance through various types, including lag, lead, and lag-lead compensators, and their impact on system stability and response. Additionally, it highlights the design of lag/lead compensators using Bode plots and the importance of pole-zero placement for achieving desired system characteristics.

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anbarasanp
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© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd

UNIT IV STABILITY AND COMPENSATOR DESIGN

Characteristics equation – Routh Hurwitz criterion – Nyquist stability criterion-


Performance criteria – Lag, lead and lag-lead networks – Lag/Lead compensator
design using bode plots.

Conditions for stability:


1. Characteristics equation:

2. Routh Hurwitz criterion:


3. Nyquist stability criterion:
EXAMPLE:
4. Performance criteria – Lag, lead and lag-lead networks
A compensator is a component in a control system that improves an undesirable frequency
response in a feedback and control system. It is a fundamental building block in
classical control theory.

Compensators influence disciplines as varied as robotics, satellite control, automobile


diagnostics, and laser frequency stabilization. They are an important building block in analog
control systems, and can also be used in digital control.

Given the control plant, desired specifications can be achieved using compensators. I,
D, PI, PD, and PID, are optimizing controllers which are used to improve system parameters
(such as reducing steady state error, reducing resonant peak, improving system response by
reducing rise time). All these operations can be done by compensators as well.

Both lead compensators and lag compensators introduce a pole–zero pair into the open
loop transfer function. The transfer function can be written in the Laplace domain as
where X is the input to the compensator, Y is the output, s is the complex Laplace
transform variable, z is the zero frequency and p is the pole frequency. The pole and zero are
both typically negative, or left of the zero in the complex plane. In a lead compensator,
, while in a lag compensator .

A lead-lag compensator consists of a lead compensator cascaded with a lag compensator. The
overall transfer function can be written as

Typically , where z1 and p1 are the zero and pole of the lead
compensator and z2 and p2 are the zero and pole of the lag compensator. The lead
compensator provides phase lead at high frequencies. This shifts the poles to the left, which
enhances the responsiveness and stability of the system. The lag compensator provides phase
lag at low frequencies which reduces the steady state error.

The precise locations of the poles and zeros depend on both the desired characteristics of the
closed loop response and the characteristics of the system being controlled. However, the
pole and zero of the lag compensator should be close together so as not to cause the poles to
shift right, which could cause instability or slow convergence. Since their purpose is to affect
the low frequency behaviour, they should be near the origin.
5. Lag/Lead compensator design using bode plots:
Finally we can check the new Gain margin and phase margin values.

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