Type II Compensator Design
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. We can solve Equation 20 and 21, and figure out the solutions to them as follow ................
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