Handout 7: Lag and PI compensation Eric Feron Lag Compensation goals: Raise gain at low frequencies while leaving rossover &z higher frequencies untouched b≥0. When b=0: Add an integrator in the loop Typical lag Bode Plot
Feb 27, 2004
PI Compensation Kpr(s)=K,+K Plant under study (s) (s+1)(s8/10+1)2 Requirements: Keep phase margin at 45 degrees, BW >4rad /sec, must beat p(w) Compensation Scheme: We first adjust the gain K in the feedback to60. n Margin
180 70 Frequency(rad/sec)
g compensation 8+a K(s)= ain and phase for different values of a: a=0.5, 2.5, 5
ode Diagram 135 Frequency(rad/sec)
Final design: Bode plot
Final design: Root locus 5
