16.06
Lecture
25
Compensator
Design
Karen
Willcox
November
3,
2003
Today’s
Topics
1.
Phaselag
compensator
design
2.
PID
control
3.
PD
control
Reading
:
6.5,
l.n.
1
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Phaselag
compensator
design
The
design
procedure
for
a
phaselag
compensator
is
as
follows:
1.
Draw
the
root
loci
for
a
proportional
gain
controller
2.
Determine
the
desired
position
of
the
dominating
pair
of
closedloop
poles
on
these
loci
from
the
speciﬁcations.
3.
Determine
the
root
locus
gain
at
the
position
(using
the
magnitude
condition)
and
hence
the
value
of
K
c
for
Pcontrol.
4.
For
this
value
of
K
c
,
determine
the
value
of
the
factor
z/p
needed
to
satisfy
the
speciﬁcations
on
steadystate
accuracy.
5.
Choose
p
and
z
with
this
ratio
and
close
enough
to
the
origin
that
the
vector
angles
to
the
dominant
poles
diﬀer
only
a
few
degrees.
6.
Draw
the
loci
of
the
compensated
system
and
ﬁnd
the
dominating
poles.
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 Kc, Phaselag compensator design

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