Control Systems

Mini-Project: Classical Phase-Lead Compensator Design

The circuit in the following figure is used to simulate the process to be controlled.

Please pay attention to the op-amps. All the op-amps must be powered as the inverter circuit in the
figure. Otherwise, they will not work. This inverter is necessary to obtain a positive transfer function
for the integrator. Also note that each RC network is followed by a voltage follower. Since the input
impedance of a voltage follower is extremely high, the loading effect to the RC network can be ignored
and each RC network can be modeled independently. First determine
G( s)

Vo1 ( s)
Vi1 ( s)

Design a phase-lead compensator using either root-locus method or Bode-plot method by assuming
unity feedback. Then implement both the process to be controlled and the phase-lead compensator you
have designed as shown below. You can use a dc voltage of 1V as input signal by switching on-and-off
the power supply to simulate the step input. Alternatively or even preferably, you can use the square
waveform of 1Vp-p /1Hz from a function generator as input. In the later case, please adjust the
OFFSET of the function generator to get a waveform from 0V to 1V instead of 0.5V.

Note: A non-inverting amplifier is put after phase-lead compensator. Its function is twofold:
1.

To eliminate loading effect

2.

To provide the required gain of the compensator, KC

Keep in mind that the minimum voltage gain of a non-inverting amplifier is 1. If the calculated
value of KC is smaller than 1, you need an inverting amplifier, which results in a negative gain. In order
to keep the gain positive, an inverter is required following that inverting amplifier. Furthermore, a
voltage follower is required between the phase-lead compensator and the inverting amplifier to
eliminate the loading effect of the inverting amplifier to the compensator as shown in the following
figure.

In view that the first stage of the process to be controlled is also an inverter, you dont have to
implement two inverters and then cascade them together. That is, both inverters can be eliminated in
your implementation.
Specifications
&

Ts(2%) 0.15s
P.O. 10%

Settling time:
Percentage overshoot:

Requirements: Record your detailed design procedures step by step, such as detailed calculations,
the diagrams, plots and figures, etc. Show the step response from both Matlab
simulation and real-time output measured using oscilloscope for both
uncompensated and compensated system for comparison with the theoretical
response.
Due dates:
1. Monday, 11/17/2014: Show the modeling procedures of the process to be controlled
and the closed-loop response from both Matlab simulation and real-time output
measured using oscilloscope without compensation.
2. Monday, 11/24/2014: Completed report and the closed-loop response from both Matlab
simulation and real-time output measured using oscilloscope with compensation.