A frequency response method for control system design

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Abstract
A method is shown for the design of series compensators for type 1 and type 0 control systems. It is based on the use of the contour of constant closed loop phase angle, α = - 90°, and assumes second order response specifications such as closed loop relative damping. The compensator parameters are determined from the intersection point of the open loop frequency response locus and a design curve which originates at a design point. The method yields directly an equivalent second order model which may be used to approximate the transient response of the compensated closed loop system.

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