In this chapter we address the central issue of the design of compensators. Utilizing
the methods of the previous chapters we develop several design techniques in the
frequency domain that enable us to achieve the desired system performance. The
powerful lead and lag controllers are introduced and used in several design examples.
Phase-lead and phase-lag control design approaches using both root locus plots and
Bode diagrams are presented.The proportional-integral (PI) controller is revisited in
the context of achieving high steady-state tracking accuracies. The design of control
systems using state variable methods is considered in Chapter 11. The chapter concludes
with a proportional-derivative (PD) controller design with prefiltering for the
Sequential Design Example: Disk Drive Read System.
