Designing Integral-Lead Compensator Based on Frequency Domain Response

In this method, firstly, the frequency responses of system in a few points are predicted and are compared with the frequency response of the model reference that is the proper loop gain function. In the next step, a second order controller for compensating is designed. Finally, a benchmark for the convergence of the real loop to the reference function and the stability of the closed loop is introduced. As the convergence of the response is adequate in a limited band the structural information of the system such as order of the system, order and number of delays is not necessary. The application of this method is in control of high order system and the systems with delayed response.