Analytical Phase Lag, Phase Lead and PID Design in Frequency Domain

Based on the following articles:

1. W. R. Wakeland, Bode Compensator Design, IEEE Trans. on Autom. Control,
Vol. AC-21, October 1976, p. 771.
2. J. R. Mitchell, Comments on Bode Compensator Design, IEEE Trans. on
Autom. Control, Vol. AC-22, October 1977, p. 869.
For a given open loop transfer function G(s)H(s) with an uncompensated gain crossover
frequency g,u, if it is desired to design
a) a phase lag compensator
1 + Ts
G c (s) = K c
with > 1
(1)
1 + Ts
b) a phase lead compensator
1 + Ts
G c (s) = K c
with < 1
(2)
1 + Ts
c) a PID controller
K
G c (s ) = K p + i + K d s
(3)
s
which will lead to a compensated closed loop system with
i) a desired phase margin m,
ii) at a desired gain crossover frequency g,c,
then the following analytical procedure may be followed. This procedure yields answers
if they actually exist.

Define the angle of the controller of interest Gc(s) at the desired gain crossover
frequency g,c as
(4)
= arg[Gc(jg,c)] = 180 + m arg[G(jg,c)H(jg,c)]
Then the design equations for
a lag or lead controller are

1 K c G ( jg ,c ) H ( jg ,c ) cos
T=
g ,c K c G ( jg ,c )H ( jg ,c ) sin
T =

cos K c G ( jg ,c ) H ( jg , c )
g , c sin

a PID controller are

cos
Kp =
G ( jg ,c ) H ( jg ,c )

ME 442 Analytical Compensator Design in Frequency Domain

(5a)

(5b)

(6a)

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K d g ,c

Ki
sin
=
g ,c G ( jg ,c ) H ( jg ,c )

(6b)

In case of a lag compensator,

the gain Kc has to be determined to satisfy the steady state requirement.
the desired gain crossover frequency g,c has to be selected such that
< 0 or arg[G(jg,c)H(jg,c)] > 180 + m
(7a)
(7b)
g,c < g,u
(7c)
Kc|G(jg,c)H(jg,c)| > 1
(7d)
cos < Kc|G(jg,c)H(jg,c)|
These requirements from (7a) through (7d) are to ensure that the angular
contribution of the compensator will be negative, the peak angular contribution of
the compensator will occur at frequencies lower than the gain crossover frequency
of the uncompensated system, the magnitude contribution of the compensator will
be less than its low frequency magnitude contribution, and the compensator itself
as a subsystem will be stable, respectively. Note that if the requirement (7c) is
satisfied, then the requirement (7d) is automatically satisfied.
In case of a lead compensator,
the gain Kc has to be determined to satisfy the steady state requirement.
The desired gain crossover frequency g,c has to be selected such that
(8a)
> 0 or arg[G(jg,c)H(jg,c)] < 180 + m
g,c > g,u
(8b)
(8c)
Kc|G(jg,c)H(jg,c)| < 1
(8d)
cos > Kc|G(jg,c)H(jg,c)|
These requirements from (8a) through (8d) are to ensure that the angular
contribution of the compensator will be positive, the peak angular contribution of
the compensator will occur at frequencies higher than the gain crossover
frequency of the uncompensated system, the magnitude contribution of the
compensator will be more than its low frequency magnitude contribution, and the
compensator itself as a subsystem will be stable, respectively. Note that if the
requirement (8d) is satisfied, then the requirement (8c) is automatically satisfied.
In case of a PID compensator,
the gain Ki has to be determined to satisfy the steady state requirement.
The desired gain crossover frequency g,c has to be selected such that
(9a)
90 < < +90
(9b)
Ki|G(jg,c)H(jg,c)|+g,csin > 0 if < 0
These requirements are to ensure that the necessary angular contribution can
really be supplied by a PID controller and a positive value for Kd can be obtained,
respectively.

ME 442 Analytical Compensator Design in Frequency Domain

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In case of a PD compensator,
the equation (6b) reduces to
sin
K d g ,c =
G ( jg ,c )H ( jg ,c )

(10)

therefore, in order to obtain a positive value for Kd, the desired gain crossover
frequency g,c has to be selected such that
> 0 or arg[G(jg,c)H(jg,c)] < 180 + m
(11)
In case of a PI compensator,
the equation (6b) reduces to
K
sin
i =
g ,c G ( jg ,c ) H ( jg ,c )

(12)

therefore, in order to obtain a positive value for Ki, the desired gain crossover
frequency g,c has to be selected such that
< 0 or arg[G(jg,c)H(jg,c)] > 180 + m
(13)

ME 442 Analytical Compensator Design in Frequency Domain

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