Automatica (Journal of IFAC)
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This paper presents a graphical design method for common continuous-time and discrete-time compensators. The method is based upon a set of design charts which have been generated using appropriately normalized compensator transfer functions. These charts allow compensator parameters to be determined with minimum calculations, and without going through the trial and error procedure presented in most introductory control systems textbooks. A detailed design example is given to illustrate the method