Handout 8: Lead compensation Eric Feron March 3. 2004 Lead Compensation goals: Raise phase(and gain) at high frequen- cies while not touching low-frequency systems characteristics: Can extend anonical lead element: s/a+1 ad(8)= 0<a<b. Typical lead Bode Plot
March 3, 2004
Bode Diagram 0 180 -225 270 Frequency(rad/sec)
Using Lead-Lag/PID compensation Plant under study (s+1)(s/10+ Requirements: Want to have good tracking (p(ju)), insensitivity to high frequency unmodelled dynamics(lGw), decent PM Compensation Scheme: We first adjust the gain K in the feedback Phase Margin is Gain Margin is BW
Lead compensation Lead(s) s/d+1 Lag compensation sa Klag(s)
Fir nal design: Bode plot 4
Final de ot
10×G() OX Bode Dia se·8 180 225 270
10x1(5从a(5)6(5 Frequency(rad/sec)
Step Re P+ leao e 0.5 0.5 15 Time(sec)
K:066 Step Response 0.8 Time(sec)
