Analytical Bode Design of Controllers

@article{Phillips1985AnalyticalBD,
  title={Analytical Bode Design of Controllers},
  author={Charles L. Phillips},
  journal={IEEE Transactions on Education},
  year={1985},
  volume={28},
  pages={43-44}
}
This paper extends an approach for the analytical design of controllers by frequency-response techniques to include the dc gain as a design parameter. Additionally, the technique is extended to the design of proportional-integral (PI) and proportional-derivative (PD) controllers, and a more direct proof of the design technique is given. 

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