Type II Compensator Design
Equation 7. The phase of the transfer function in Equation 3 at a given frequency can be calculated as. Equation 8. As can be seen, the phase of C(j ) has two parts: a constant phase of - /2 due to the pole at the origin, and a variable part as a function of frequency . ... Plot the loop Bode plot and verify the phase margin. Check the gain ... ................
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