Advanced control engineering (S.R. Burns, 2001)

30

0.25 dB

25

0.5 dB

20

1 dB

15

(dB)

10

3 dB

Gain

(b)

(a)

–3 dB

Loop-

5

Open

0

ω = 3.43

–5

–10

–15

ω = 5.09

–20

–220

–200

–180

–160

–140

–120

–100

–80

–60

–240

$

$ $

$

#

#

20

C (jω)

Lead compensator two

R

10

(dB)

Lead compensator one

0

–3

–10

–20

–30

10–1

3.4

5.09

#

$

#

#

$

#

#

#

$

#

#

$

$

$

$

$

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$ $

$

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$ $

$

$

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$

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