I am studying control systems, and I am studying the lead and lag compensator.

I have seen than if I use a lead compensatpr in the following way:

consider a closed loop transfer function:


and I design a lead compensator as:

$lead(s) = \frac{3s+1}{0.1s+1}$

and I use it as a precompensator, so the lead compensator is outside the loop:

$lead(s)\cdot T(s)$

and plot the frequency response, I see that I have a frequency respose I have that there is a reasonance peak, which increases as I decrease the frequency at which the zero is present:

enter image description here

in this case, the red line is a lead compensator defined as:


and the green line is the system in which I have used the following compensator:


can somebody explain to me why?

  • $\begingroup$ Hint : Plot the frequency of both compensators. Which one has the highest gain ? $\endgroup$ – Ben Feb 24 at 20:24

The first compensator $\frac{3s+1}{0.1s + 1}$ has a high-frequency gain of 30.

The second compensator $\frac{6s+1}{0.1s + 1}$ has a high-frequency gain of 60.

The difference is 6.02 dB, it looks pretty close to the difference between the green and red line.

| improve this answer | |
  • $\begingroup$ Thanks for answering. I would like to ask if there is a reason of why this happen, or it is just a computational issue? $\endgroup$ – J.D. Feb 24 at 22:06
  • 1
    $\begingroup$ Do you know how to compute a transfer function gain at infinite frequency? It's basically L'Hospital rule $\endgroup$ – Ben Feb 24 at 22:26

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