Lead-lag compensator design based on vector margin and steady-state error of the step response via particle swarm optimization

Abstract

In this paper, a simple approach for the lead-lag compensator design based on vector margin and steady-state error of the step response of the overall control system is proposed. The main reason for including the vector margin in compensator design is to take the stability robustness of the overall system into consideration. A simple performance index is defined for the given control system in terms of the vector margin and the percentage steady-state error of the step response. The particle swarm optimization (PSO) is used to evolve the candidate design parameters of the compensators in order to find the best set of design parameters. Three numerical examples are provided to illustrate the use and the effectiveness of the proposed method.