Type II Compensator Design
From Equation 17 and 18 we can get. or equivalently. Equation 19. Based on Equation 11 and Equation 19, we can get the following two equations about p and z. Equation 20. Equation 21. where d is defined by. Equation 22. Note that d is known with the given parameters m and p, and the selected frequencies c and m. ................
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