A worked example on lead compensation technique based on the root-locus

approach
Design a lead compensator for a control system shown below so that the damping ratio
= 0.5 and the undamped natural frequency n = 4 rad/s. If the compensator is based on
the RC network, give the components values.
R(s)

C(s)

4
s (s + 2)
_

The open loop transfer function

G(s)

4
s ( s 2)

Poles of G(s) are s = 0 and s = -2.

The closed-loop transfer function
C ( s)
4
2
R( s) s 2s 4

The closed-loop poles are located at

s = 1 j3
=1 j1.732
= n n (1 2)
Thus, we have = 0.5 and n = 2 rad/s. But from the specification, we need = 0.5 and
n = 4 rad/s. This means that remains unchanged but n has to be increased to 4 rad/s.
Hence the new desired location of the closed-loop pole is
sp = n + n j(1 2)
= 2 + j23
= 2 + j3.464
Let the lead compensator transfer function Gc ( s )
The compensated control system is shown below
Compensator
R(s) +
Gc(s)

K c (s Z c )
s Pc

4
s (s + 2)

C(s)

This means the new desired location

sp = 2 + 3.464
Becomes one of the closed-loop poles of the compensated system and this point must lies
on the root locus for the compensated system.
The open loop transfer function of the compensated system is given by
K c (s Z c )
4
s Pc
s ( s 2)
We must find the values for Kc , Zc and Pc. Since the point sp lies on the root locus, then
we can apply the root locus properties to find these values.
Gc ( s )G ( s )

From the phase condition

Or

Gc ( s )G ( s ) s s 180 o
p

Gc ( s ) s s G ( s ) s s 180 o
p

The angle G(s) at the desired closed-loop pole is

G ( s

Thus,

ss p

4
s ( s 2)

210 o
s 2 j 3.464

Gc ( s ) s s 210 o 180 o
p

Gc ( s ) s s 30 o
p

This means that the lead compensator must contribute = 30o. The design procedure is
as follows;
(i)
(ii)
(iii)
(iv)
(v)
(vi)
(vii)

Plot the poles s = 0, s = 4 and the desired point sp = 2 + 3.464 and let this
be point P.
Draw the line from P to the origin, i.e. PO
Draw a horizontal line passing through point P, i.e. PA
Bisect the angle between the lines PA and PO and draw the bisector PB.
Draw two lines PC and PD that makes angles /2, i.e. 15o with the bisector
PB.
The intersection of PC with the real axis gives the necessary location fort the
pole of the compensator, i.e. pole at s = 5.4 or Pc = 5.4
The intersection of PD with the real axis gives the necessary location fort the
zero of the compensator, i.e. zero at s = 2.9 or Zc = 2.9.
2

j
A

C
X
-5.4
-Pc
-1/( T))

15o
B

Gc ( s)

Thus

15o
D
O
X
-2.9 -2
-Zc
-1/T

X
O

K c ( s 2.9)
s 5.4

From the graph, we have 1/T = 2.9, i.e. T = 0.344 and

1/(T) = 5.4, i.e. = 0.537
The open loop transfer function of the compensated system becomes
G c ( s )G ( s )
Gc ( s )G ( s )

K c ( s 2.9)
4
s 5.4 s ( s 4)
K ( s 2 .9 )
s ( s 2)( s 5.4)

Where K = 4Kc.
The gain K is evaluated from the magnitude condition as follows:
Gc ( s )G ( s )

ss p

K ( s 2.9)
s ( s 2)( s 5.4)

i.e.
or

1
s 2 j 3.464

K = 18.7
Kc= 18.7/4 = 4.68

Hence, the transfer function of the lead compensator becomes

Gc ( s )

4.68( s 2.9)
s 5.4

or

Gc ( s )

2.5(1 0.344 s )
1 0.1852 s

From the transfer function of the RC network, R1C = T and R2/(R1 + R2) = .
Then we have, R1C = 0.344 and let C = 1 F , then R1 = 344 k
And also we have

R2
0.537 and given that R1 = 344 k, we have R2 = 400 k.
R1 R2

The lead compensator network is as shown below

C
1 F
R1
Amplifier
Gain = 2.5

344 k
R2

400 k