Maple-SYREP Control System Design Example

The following example creates a phase-lead compensator for the Type 1 plant

G(s)  =  4/s(s+2)

with the specifications that the system should have a phase margin of 50 degrees, and  a velocity error constant Kv= 20 sec^-1.

 The compensator has a transfer function of the form

G(s)  =  K(Ts+1)/(aTs+1)

where the parameters a and T are to be found.  The example

• finds the gain K to meet the error specification,

• determines the phase margin with this value of K,

• finds the additional phase lead to meet the phase margin specification,

• finds the value of a (alpha) to meet this spec,

• uses the gain of the compensator to estimate the new gain crossover frequency, and
  adjusts T to set the maximum phase-lead to this frequency.