Solution Display

03-Jan-15

Problem 11.26
Subject: 11. Design via Frequency Response.
Problem Hints Directions Detailed Solution Final Answer
1. Part a:
We need to design a lag-lead compensator for the system shown in Fig 26-1 to meet the following performance
specifications: overshoot
, settling time
, steady state error
. It is given that
and

(Figure 26-1)

2. First we write the transfer function from

3. Letting

to

, we can redraw the block diagram of Fig. 26-1 in a standard form with a negative feedback (Figure

26-2):

(Figure 26-2)

4. Following the lag-lead compensation design procedure, we translate the performance specifications into the frequency
domain requirements.
5. We obtain the required damping ratio from the percent overshoot:

6. Next, we determine the phase margin,

, from the relationship between phase margin and damping ratio:

7. Using the relationship between damping ratio, settling time and bandwidth, we determine the required bandwidth:

8. Finally, the specification on the velocity constant

the lag-lead compensator's static gain equals

yields the required gain:

. Assuming that

, we have:

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9. The Bode plots for the uncompensated system with

are shown in Fig. 26-3.

(Figure 26-3)

10. We select

as the new phase margin frequency.

11. At this frequency, the uncompensated phase is

. Adding a

phase contribution from the lag compensator, we

obtain the required phase contribution from the lead portion of the compensator:

12. Now, we design the lag compensator so that its phase response will have little effect at the phase-margin frequency
. The higher break frequency is chosen to be a decade below
13. Since we need to add

, at

of phase shift using the lead compensator at

can be calculated from:

14. Thus, the transfer function of the lag compensator is:

15. Now we design the lead compensator. Using the values of

angle occurs), and

(the frequency at which the maximum phase

, we find the lower break frequency:

16. The higher break frequency is:

17. Thus, the transfer function of the lead compensator is:

18. Combining (2), (3), (8), (14) and (17), we obtain the lag-lead compensated system's open-loop transfer function:

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19. The Bode diagrams of the lag-lead compensated open-loop system are shown in Fig. 26-4.

(Figure 26-4)

20. From this Figure we see that the phase margin ,

(the requirement found in (6)). Therefore, the phase-

margin specification is met.

21. The closed-loop bandwidth, is the frequency at which the magnitude response of the open-loop system is
Fig.26-4, we see that this frequency is
22. Since

. Thus, we estimate the closed-loop bandwidth to be

exceeds the requirement of

23. Finally, we must verify that the

. From
.

(found in (7)), the settling time specification is met.

requirement is also met:

24. Part b:
To test the second-order approximations used in the design procedure, we simulate the system with the designed gain and
lag-lead compensator. The simulation results are shown in Fig. 26-5.

(Figure 26-5)

25. From the step response we see that the overshoot is about

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, and the settling time is less than

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