Lecture 35 & 36

Compensator Design using

Bode Plot
Dr. D. Saravanakumar,
Associate Professor,
School of Mechanical Engineering,
Vellore Institute of Technology - Chennai Campus.
Email: [email protected]

08 & 09-Apr-25 BMHA312L Control System Winter 2024-25 Dr. D. Saravanakumar 1

 Lag Compensation
• The function of the lag compensator as seen on Bode
diagrams is to
1. improve the static error constant by increasing only the
low-frequency gain without any resulting instability,
2. increase the phase margin of the system to yield the
desired transient response.

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 Lag Compensation – Design
Procedure
1. Set the gain, K, to the value that satisfies the steady-state error
specification and plot the Bode magnitude and phase diagrams for this
value of gain.
2. Find the frequency where the phase margin is 5° to 12° greater than
the phase margin that yields the desired transient response. This step
compensates for the fact that the phase of the lag compensator may
still contribute anywhere from 5° to 12° of phase at the phase-margin
frequency.
3. Select a lag compensator whose magnitude response yields a
composite Bode magnitude diagram that goes through 0 dB at the
frequency found in Step 2 as follows: Draw the compensator’s high-
frequency asymptote to yield 0 dB for the compensated system at the
frequency found in Step 2. Thus, if the gain at the frequency found in
Step 2 is 20 log KPM, then the compensator’s high-frequency
asymptote will be set at - 20 log KPM. Select the upper break frequency
to be 1 decade below the frequency found in Step 2; select the low-
frequency asymptote to be at 0 dB. Connect the compensator’s high-
and low-frequency asymptotes with a 20 dB/decade line to locate the
lower break frequency.
4. Reset the system gain, K, to compensate for any attenuation in the lag
network in order to keep the static error constant the same as that
found in Step 1.

08 & 09-Apr-25 BMHA312L Control System Winter 2024-25 Dr. D. Saravanakumar 3

 Example 1
A unity feedback system has an open loop transfer function,
𝐺 𝑠 = 𝐾 Τ𝑠(1 + 2𝑠). Design a suitable lag compensator so
that phase margin is 40° and the steady state error for ramp
input is less than or equal to 0.2.
Solution
Step 1: Calculation of gain, K.
Given ess ≤ 0.2 for ramp input. Let ess = 0.2
1 1
Velocity error constant 𝐾𝑣 = = =5
𝑒𝑠𝑠 0.2
𝐾
𝐾𝑣 = lim 𝑠 𝐺(𝑠) = lim 𝑠 =𝐾
𝑠→0 𝑠→0 𝑠(1+2𝑠)

So, K=5

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 Example 1
Step 2: Bode plot of uncompensated system.
5
𝐺 𝑗𝜔 =
𝑗𝜔(1 + 2𝑗𝜔)
Magnitude Plot
1
The Corner Frequency is 𝜔𝑐1 = = 0.5 rad/sec
2
Choose low frequency ωl and high frequency ωh 𝜔𝑙 = 0.1 rad/sec 𝜔ℎ = 10 rad/sec

Corner
Slope Change in Slope
Term Frequency
dB/dec dB/dec
rad/sec
5
- -20 -
𝑗𝜔
1 1
𝜔𝑐1 = = 0.5 -20 -20-20 = -40
(1 + 2𝑗𝜔) 2

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 Example 1
5 5
At ω = ωl, 𝐴 = 20 log 𝐺(𝑗𝜔) = 20 log = 20 log = 34𝑑𝐵
𝑗𝜔 0.1
5 5
At ω = ωc1, 𝐴 = 20 log 𝐺(𝑗𝜔) = 20 log = 20 log = 20𝑑𝐵
𝑗𝜔 0.5
ω
At ω = ωh, 𝐴 = 𝑆𝑙𝑜𝑝𝑒 𝑓𝑟𝑜𝑚 ωc1 𝑡𝑜 ωh ∗ log h + 𝐴ωc1
ωc1
10
𝐴 = −40 ∗ log + 20 = −32𝑑𝐵
0.5
Phase Plot
𝜙 = ∠𝐺 𝑗𝜔 = −90° − tan−1 2𝜔

ω 0.1 0.5 1 5 10

𝜙(ω) -101 -135 -153 -174 -177

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 Example 1

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 Example 1
Step 3: Determination of phase margin of uncompensated system.
Phase of G(jω) at gain crossover frequency, 𝜙gc= -162°
Phase Margin, γ = 180° + 𝜙gc= 180° - 162° = 18°

Step 4: Choose a suitable value for phase margin of compensated system.

Desired phase Margin, γd = 40°
Phase Margin of compensated system, γn = γd + ε = 40°+ 5° = 45°

Step 5: Determine new gain crossover frequency ωgcn

Phase of G(jω) at ωgcn, 𝜙gcn= γn -180° = -135 °

From Bode plot, ωgcn= 0.5 rad/sec.

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 Example 1
Step 6: Determine the parameter β
From Bode plot, 𝐺 𝑗𝜔 𝜔 = 𝐴𝑔𝑐𝑛 = 20 db
𝑔𝑐𝑛
Also, 𝐴𝑔𝑐𝑛 = 20 log 𝛽
𝐴𝑔𝑐𝑛 20ൗ
ൗ20
So, 𝛽 = 10 = 10 20 = 10
Step 7: Determine the transfer function of lag compensator
The zero of the compensator is placed at a frequency 1/10th of ωgcn
1 𝜔𝑔𝑐𝑛 10 10
𝑧𝑐 = = 𝑇= = = 20
𝑇 10 𝜔𝑔𝑐𝑛 0.5
1 1
Pole of the compensator 𝑃𝑐 = = = 0.005
𝛽𝑇 10 × 20
Transfer function of lag compensator
1
𝑠+𝑇 1 + 𝑠𝑇 1 + 20𝑠
𝐺𝐶 𝑠 = =𝛽 = 10
1 1 + 𝑠𝛽𝑇 1 + 200𝑠
𝑠+
𝛽𝑇
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 Example 1
Step 8: Determine open loop Transfer Function of compensated system.
1
𝐺𝑜 𝑠 = × 𝐺𝑐 𝑠 × 𝐺(𝑠)
𝛽
1 1 + 20𝑠 5 5 1 + 20𝑠
𝐺𝑜 𝑠 = × 10 × =
10 1 + 200𝑠 𝑠(1 + 2𝑠) 𝑠 1 + 200𝑠 1 + 2𝑠

Step 9: Determine the actual phase margin of compensated system.

5 1 + 20𝑗𝜔
𝐺𝑜 𝑗𝜔 =
𝑗𝜔 1 + 200𝑗𝜔 1 + 2𝑗𝜔

𝜙0 = tan−1 20𝜔 − 90° − tan−1 200𝜔 − tan−1 2𝜔

−1 −1 −1
At ωgcn= 0.5 rad/sec, 𝜙𝑔𝑐0 = tan 20 × 0.5 − 90° − tan 200 × 0.5 − tan 2 × 0.5
𝜙𝑔𝑐0 = −140°

Actual phase Margin, γo = 180°+ 𝜙gc0 = 180°-140°=40°

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 Lead Compensation
• The lead compensator
increases the bandwidth by
increasing the gain crossover
frequency.
• At the same time, the phase
diagram is raised at higher
frequencies.
• The result is a larger phase
margin and a higher phase-
margin frequency. In the time
domain, lower percent
overshoots (larger phase
margins) with smaller peak
times (higher phase-margin
frequencies) is the result.

08 & 09-Apr-25 BMHA312L Control System Winter 2024-25 Dr. D. Saravanakumar 11

 Lead Compensation – Design
Procedure
1. Find the closed-loop bandwidth required to meet the settling time, peak time,
or rise time requirement.
2. Since the lead compensator has negligible effect at low frequencies, set the
gain, K, of the uncompensated system to the value that satisfies the steady-
state error requirement.
3. Plot the Bode magnitude and phase diagrams for this value of gain and
determine the uncompensated system’s phase margin.
4. Find the phase margin to meet the damping ratio or percent overshoot
requirement. Then evaluate the additional phase contribution required from
the compensator.
5. Determine the value of β from the lead compensator’s required phase
contribution.
6. Determine the compensator’s magnitude at the peak of the phase curve.
7. Determine the new phase-margin frequency by finding where the
uncompensated system’s magnitude curve is the negative of the lead
compensator’s magnitude at the peak of the compensator’s phase curve.
8. Design the lead compensator’s break frequencies to find T and the break
frequencies.
9. Reset the system gain to compensate for the lead compensator’s gain.
10. Check the bandwidth to be sure the speed requirement in Step 1 has been met.
11. Simulate to be sure all requirements are met.
12. Redesign, if necessary, to meet requirements.

08 & 09-Apr-25 BMHA312L Control System Winter 2024-25 Dr. D. Saravanakumar 12

 Example 2
Design a phase lead compensator for the system
shown in the figure to satisfy the following
specifications.
i. The phase margin of the system ≥ 45°.
ii. Steady state error for a unit ramp input ≤ 1/15.
iii. The gain crossover frequency of the system must
be less than 7.5 rad/sec.
𝐾
+
- 𝑠 𝑠+1

08 & 09-Apr-25 BMHA312L Control System Winter 2024-25 Dr. D. Saravanakumar 13

 Example 2
Solution
Step 1: Calculation of gain, K.
Given ess ≤ 1/15 for ramp input. Let ess = 1/15
1
Velocity error constant 𝐾𝑣 = = 15
𝑒𝑠𝑠
𝐾
𝐾𝑣 = lim 𝑠 𝐺(𝑠) = lim 𝑠 =𝐾
𝑠→0 𝑠→0 𝑠(𝑠+1)

So, K = 15

08 & 09-Apr-25 BMHA312L Control System Winter 2024-25 Dr. D. Saravanakumar 14

 Example 2
Step 2: Bode plot of uncompensated system.
15
𝐺 𝑗𝜔 =
𝑗𝜔(1 + 𝑗𝜔)
Magnitude Plot
The Corner Frequency is 𝜔𝑐1 = 1 rad/sec

Choose low frequency ωl and high frequency ωh 𝜔𝑙 = 0.1 rad/sec 𝜔ℎ = 10 rad/sec

Corner
Slope Change in Slope
Term Frequency
dB/dec dB/dec
rad/sec
15
- -20 -
𝑗𝜔
1
𝜔𝑐1 = 1 -20 -20-20 = -40
(1 + 𝑗𝜔)

08 & 09-Apr-25 BMHA312L Control System Winter 2024-25 Dr. D. Saravanakumar 15

 Example 2
15 15
At ω = ωl, 𝐴 = 20 log 𝐺(𝑗𝜔) = 20 log = 20 log = 44𝑑𝐵
𝑗𝜔 0.1
15 15
At ω = ωc1, 𝐴 = 20 log 𝐺(𝑗𝜔) = 20 log = 20 log = 24𝑑𝐵
𝑗𝜔 1
ω
At ω = ωh, 𝐴 = 𝑆𝑙𝑜𝑝𝑒 𝑓𝑟𝑜𝑚 ωc1 𝑡𝑜 ωh ∗ log h + 𝐴ωc1
ωc1
10
𝐴 = −40 ∗ log + 24 = −16 dB
1
Phase Plot
𝜙 = ∠𝐺 𝑗𝜔 = −90° − tan−1 𝜔

ω 0.1 0.5 1 2 5 10

𝜙(ω) -96 -117 -135 -153 -169 -174

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 Example 2

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 Example 2
Step 3: Determination of phase margin of uncompensated system.
Phase of G(jω) at gain crossover frequency, 𝜙gc= -167°
Phase Margin, γ = 180° + 𝜙gc= 180° - 167° = 13°
Step 4: Find φm.
Desired phase Margin, γd = 45°
Maximum lead angle, φm = γd -γ+ ε = 45°- 13°+ 5° = 37°
Step 5: Determine the transfer function of lead compensator.
1 − sin 𝜑𝑚 1 − sin 37°
𝛼= = = 0.25
1 + sin 𝜑𝑚 1 + sin 37°
1 1
𝐺 𝑗𝜔 𝜔𝑚 = 𝐴𝑚 = −20 log = − 20 log = −6 db
𝛼 0.25
08 & 09-Apr-25 BMHA312L Control System Winter 2024-25 Dr. D. Saravanakumar 18
 Example 2
From Bode plot, ωm= 5.6 rad/sec.
1 1
𝑇= = = 0.36
𝜔𝑚 𝛼 5.6 0.25
Transfer function of lead compensator
1
𝑠+ 1 + 𝑠𝑇 1 + 0.36𝑠
𝐺𝐶 𝑠 = 𝑇 =𝛼 = 0.25
1 1 + 𝑠𝛼𝑇 1 + 0.09𝑠
𝑠+
𝛼𝑇

Step 6: Determine open loop Transfer Function of compensated system.

1
𝐺𝑜 𝑠 = × 𝐺𝑐 𝑠 × 𝐺(𝑠)
𝛼
1 1 + 0.36𝑠 15 15 1 + 0.36𝑠
𝐺𝑜 𝑠 = × 0.25 × =
0.25 1 + 0.09𝑠 𝑠(1 + 𝑠) 𝑠 1 + 0.09𝑠 1 + 𝑠
08 & 09-Apr-25 BMHA312L Control System Winter 2024-25 Dr. D. Saravanakumar 19
 Example 2
Step 7: Draw the bode plot of compensated system to verify design.
15 1 + 0.36𝑗𝜔
𝐺𝑜 𝑗𝜔 =
𝑗𝜔 1 + 0.09𝑗𝜔 1 + 𝑗𝜔
Magnitude Plot
1
The Corner Frequency are 𝜔𝑐1 = = 1 rad/sec
1
1
𝜔𝑐2 = = 2.8 rad/sec
0.36
1
𝜔𝑐3 = = 11.1 rad/sec
0.09
Choose low frequency ωl and high frequency ωh

𝜔𝑙 = 0.1 rad/sec

𝜔ℎ = 50 rad/sec

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 Example 2
Corner
Slope Change in Slope
Term Frequency
dB/dec dB/dec
rad/sec
15
- -20 -
𝑗𝜔
1
𝜔𝑐1 = 1 -20 -20-20 = -40
(1 + 𝑗𝜔)
(1 + 𝑗0.36𝜔) 𝜔𝑐2 = 2.8 +20 -40+20= -20
1
𝜔𝑐3 = 11.1 -20 -20-20= -40
(1 + 𝑗0.09𝜔)
15 15
At ω = ωl, 𝐴 = 20 log 𝐺(𝑗𝜔) = 20 log = 20 log = 44𝑑𝐵
𝑗𝜔 0.1
15 15
At ω = ωc1, 𝐴 = 20 log 𝐺(𝑗𝜔) = 20 log = 20 log = 24𝑑𝐵
𝑗𝜔 1
ω
At ω = ωc2, 𝐴 = 𝑆𝑙𝑜𝑝𝑒 𝑓𝑟𝑜𝑚 ωc1 𝑡𝑜 ωc2 ∗ log 𝑐2 + 𝐴ωc1
ωc1
2.8
𝐴 = −40 ∗ log + 24 = 6 dB
1
08 & 09-Apr-25 BMHA312L Control System Winter 2024-25 Dr. D. Saravanakumar 21
 Example 2
ωc3
At ω = ωc3, 𝐴 = 𝑆𝑙𝑜𝑝𝑒 𝑓𝑟𝑜𝑚 ωc2 𝑡𝑜 ωc3 ∗ log + 𝐴ωc2
ωc2
11.1
𝐴 = −20 ∗ log + 6 = −6 dB
2.8
ωh
At ω = ωh, 𝐴 = 𝑆𝑙𝑜𝑝𝑒 𝑓𝑟𝑜𝑚 ωc3 𝑡𝑜 ωh ∗ log + 𝐴ωc3
ωc3
50
𝐴 = −40 ∗ log − 6 = −32 dB
11.1
Phase Plot
𝜙 = ∠𝐺 𝑗𝜔 = tan−1 0.36 𝜔 − 90° − tan−1 0.09𝜔 − tan−1 𝜔

ω 0.5 1 2 5 10 50

𝜙(ω) -94 -109 -120 -128 -132 -142

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 Example 2

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 Lag-Lead Compensation

• The transfer function of a single, passive lag-lead

network is
1 1
𝑠+𝑇 𝑠+𝑇
1 2
𝐺𝐶 𝑠 = 𝐺𝐿𝑒𝑎𝑑 𝑠 𝐺𝐿𝑎𝑔 𝑠 = 𝛾
𝑠+ 1
𝑇1 𝑠+
𝛾𝑇2
• where γ > 1. The first term in parentheses produces
the lead compensation, and the second term in
parentheses produces the lag compensation.

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