lead-lag compensation

Set the system speed error coefficient to 10, with a gain margin greater than 10 dB and a phase margin greater than 50 degrees. % Lead-lag compensation numeratornum1=10*1;% Expected speed error coefficientden1=conv(conv([1,0],[0.4,1]),[1.2,1]);% Denominator polynomial[Gn1,Ph1,Wg1,Wp1]=margin(num1,den1);% Frequency variablew1=logspace(-2,2,1000);% Frequency response[mag1,pha1]=bode(num1,den1,w1);k1=find(abs(w1-Wg1)==min(abs(w1-Wg1)));Wc=Wg1;w_c2=Wc/12;beta=15;num_c2=[1/w_c2,1];den_c2=[beta/w_c2,1];w_c1=w_c2;mag_k=mag1;mag_k(k1)=2;i1=1;while(mag_k(k1)>1) num_c1=[1/w_c1,1]; den_c1=[1/(w_c1*beta),1]; w_c1=w_c1+0.01; [num_c,den_c]=series(num_c1,den_c1,num_c2,den_c2); [num2,den2]=series(num1,den1,num_c,den_c); [mag_k,pha_k]=bode(num2,den2,w1); i1=i1+1; if(i1>9000) break; endend[Gn2,Ph2,Wg2,Wp2]=margin(num2,den2);% Frequency response[mag2,pha2]=bode(num2,den2,w1);[mag_c,pha_c]=bode(num_c,den_c,w1);subplot(2,1,1);semilogx(w1,20*log10(mag1),’b’,w1,20*log10(mag2),’r’,w1,20*log10(mag_c),’g’);grid;ylabel(‘Magnitude (dB)’);title(‘Blue line – Before compensation, … Read more