LABORATORY MODULE

Control Systems
(EMT 364/4)

Semester 2 (2011/2012)

Experiment 4:
Controller Design

School of Microelectronic Engineering

Universiti Malaysia Perlis (UniMAP)
 EXPERIMENT 4

Controller Design

1 OBJECTIVE:
1.1. To study the types of compensator for control systems.

1.2. Software analysis using Scilab.

2 INTRODUCTION

Compensation is the modification of the system dynamic to satisfy the given specifications.
Setting the gain is the first step in adjusting the system satisfactory performance.

However, the adjustment of the gain alone may not provide sufficient alteration of the system
behavior to meet the given specifications. Usually, increasing the gain value will improve the
steady-state behavior but will result in poor stability or even instability.

It has then necessary to redesign the system (by modifying the structure or by incorporating
additional devices or components) to alter the overall behavior so that the system will behave
as desired. Such a redesign or addition of a suitable device is called compensation. The
compensator compensates for deficit performance of the original system.

Commonly used compensators and controllers are lead, lag and lag-lead compensators and
PID controllers.

Lead compensator

A lead compensator will have a transfer function of the form:

where  and T are determined from the angle deficiency. KC is determined from the
requirement of the open loop gain.

2
Lag compensator

A lag compensator will have a transfer function of the form:

where and T are determined from the angle deficiency. KC is determined from the
requirement of the open loop gain.

Lag-lead compensator

A lag-lead compensator will have a transfer function of the form:

where >1 and γ > 1. KC belong to the lead portion of the compensator.

PI controller

The PI controller is characterized by the transfer function

PD controller

The PD controller is characterized by the transfer function

3
 PID controller
The PID controller is characterized by the transfer function

Where KP, KI and KD are the controller parameters. TI and TD are the integral action time
and derivative action time respectively.

3 PROCEDURES

3.1 Consider a system with a unity feedback.

a. Use Scilab command to obtain the root locus plot.

b. Use Scilab command to obtain the dominant closed loop poles.
c. Calculate the deficiency angle (angle compensated by the compensator).
d. Obtain the value gain compensated, Kc, when zero s=1 is inserted.
e. Does the compensator meet the design criteria?

3 REPORT

Write a report based on your experiments and observations.