Loop gain-phase shaping for single-input-single-output robust controllers

The steps in loop gain-phase shaping design, an approach that offers significant advantages in the design of robust single-input-single-output control systems, are summarized. A family of CAD tools that implement the design procedure is described. several examples are presented showing the use of these tools and demonstrating some of the performance advantages available with loop gain-phase shaping as compared to classical loop shaping and its derivatives.<>