A technique for choosing zero locations for minimal overshoot

An approach is presented to the specification of optimal overshoot controllers when the controller order is fixed and the closed-loop system poles are prescribed to be at a fixed location. The essential effect of the technique is to pick the best possible locations of the free zeros of the system to achieve the minimization of the overshoot. The solution is obtained by solving an affine minimax optimization problem. An example illustrates how this technique can be used as a design aid when it is necessary to trade off conflicting design requirements, such as overshoot and settling-time specifications