Before revision: For a type-0 system under unity negative feedback control, Michael Short and colleagues have shown that a relatively simple but effective method to synthesize a controller for a given closed-loop denominator polynomial and preserve (scaled) zeroes of the PTF is to use the design equation: Where the scalar term ensures stead-state gain of unity in closed-loop.
After revision: For a type-0 system under unity negative feedback control, Michael Short and colleagues have shown that a relatively simple but effective method to synthesize a controller for a given closed-loop denominator polynomial and preserve (scaled) zeros of the PTF is to use the design equation: Where the scalar term ensures the controller exhibits integral action, and a steady-state gais achieved in the(monic)thenumerator of unity in closed-loop.