Aziz Martakoush

B00447568

Q1

Bode Diagram
Gm = 14.1 dB (at 6.46 rad/sec) , Pm = 60.1 deg (at 2.28 rad/sec)
150

100

50
Magnitude (dB)

-50

-100

-150
-45

-90

-135
Phase (deg)

-180

-225

-270
-4 -3 -2 -1 0 1 2 3
10 10 10 10 10 10 10 10
Frequency (rad/sec)
 Aziz Martakoush
B00447568

Step Response
1.4

1.2

0.8
Amplitude

0.6

0.4

0.2

0
0 5 10 15 20 25 30 35
Time (sec)

Blue is compensated, green is uncompensated.

The lag-lead compensator seems like it is not working as it should be, since there is
an overshoot in the response and takes the same time to reach steady state as the
original system. This is probably due to the lag controller of the lag lead
compensator, where the lag tries
ramp to push the cross over frequency
over and the lead tries to increase
20
over shoot.

Dotted is compensated system.

15 Solid is original system.
Amplitude

The uncompensated system is

10 following the compensated system
quite well when subjected to a
5
ramp input. However, there is a
small error between the two.

0
0 5 10 15 20
Time (sec)
Aziz Martakoush
B00447568

Q2

Bode Diagram
Gm = Inf dB (at Inf rad/sec) , Pm = 9.9 deg (at 34.4 rad/sec)
70

60

50

40
Magnitude (dB)

30

20

10

-10

-20
-90

-120
Phase (deg)

-150

-180
-1 0 1 2
10 10 10 10
Frequency (rad/sec)
Aziz Martakoush
B00447568

Bode Diagram
Gm = Inf dB (at Inf rad/sec) , Pm = 44.8 deg (at 29.4 rad/sec)
100

80

60

40
Magnitude (dB)

20

-20

-40

-60
-90

-120
Phase (deg)

-150

-180
-2 -1 0 1 2 3
10 10 10 10 10 10
Frequency (rad/sec)

Step Response
1.4

1.2

0.8
Amplitude

0.6

0.4

0.2

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8
Time (sec)

Red – lag-lead, Blue – Kp compensator

The lag-lead compensator has a lower overshoot, less oscillations and reaches
steady state around the same time as the Kp compensator does. The lag-lead
compensator appears to be a much better controller than the Kp compensator.
Aziz Martakoush
B00447568

Step Response
1.4

1.2

0.8
Amplitude

0.6

0.4

0.2

0
0 0.5 1 1.5
Time (sec)

Blue – PID controller, Red – lag-lead compensated.

Since PID controlled system is an approximation of the compensator then no

oscillations will appear and it has the general shape. If we zoom in onto the PID
graph we will see the following:
Aziz Martakoush
B00447568

Step Response

0.9995

0.999

0.9985

0.998
Amplitude

0.9975

0.997

0.9965

0.996

0.9955

0.995
1.5 2 2.5 3 3.5 4 4.5 5 5.5 6 6.5
Time (sec) -3
x 10