An innovative approach to compensator design

The design is considered of a computer-aided-compensator for a control system from a frequency domain point of view. The design technique developed is based on describing the open loop frequency response by n discrete frequency points which result in n functions of the compensator coefficients. Several of these functions are chosen so that the system specifications are properly portrayed; then mathematical programming is used to improve all of these functions which have values below minimum standards. To do this, several definitions in regard to measuring the performance of a system in the frequency domain are given, e.g., relative stability, relative attenuation, proper phasing, etc. Next, theorems which govern the number of compensator coefficients necessary to make improvements in a certain number of functions are proved. After this a mathematical programming tool for aiding in the solution of the problem is developed. This tool is called the constraint improvement algorithm. Then for applying the constraint improvement algorithm generalized, gradients for the constraints are derived. Finally, the necessary theory is incorporated in a Computer program called CIP (compensator Improvement Program). The practical usefulness of CIP is demonstrated by two large system examples.