Lec 3 4 - Lag compensation The lag compensator has a phase...

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1 Lag compensation The lag compensator has a phase lag frequency response.
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2 Its transfer function is: 1 1 2 2 1 1 2 3 1 4 ˆ ) ( 1 1 1 1 1 1 ) ( ) ( p s z s K s G T s T s K Ts Ts K C R s C R s C R C R s E s E c c c c i o + + = + + = + + = + + = β where For the lag compensator, 2 3 1 4 2 2 1 1 ˆ , , C R C R K C R T C R T c = = = 2 2 1 1 1 C R C R or < >
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3 A lag compensator is used where the original system has satisfactory transient response characteristics, but unsatisfactory steady state characteristics. The compensation is required to increase the open loop gain without appreciably changing the transient response. Therefore we need to make the magnitude contribution of the lag compensator is unity and the angle contribution of the lag compensator is very small. We need to 1. Place the zero and pole very close to each other and is unity.
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4 2. Place the pole and zero very close to the origin so that the value of can be made large. β The compensated the system will have the static error constant: Therefore the static error constant is increased by a factor of .
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Lec 3 4 - Lag compensation The lag compensator has a phase...

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