Constructive mechanism of Lead/Lag design for a class of linear systems

A generalized algorithm of compensator (Lead/Lag) design, using Root Locus, is proposed for a class of linear systems. The proposed algorithm (set of rules and equations) does not need explicitly drawing the root locus of the plant under consideration and can be a good software tool. The algorithm, takes the performance specifications and plant's data, uses the well known angle and magnitude conditions of the Root Locus technique, decides whether Lead or Lag compensator is needed. The steady state error requirements has also been incorporated (in case of Lag compensator). In addition, the dominance of desired pole pair is guaranteed. The proposed algorithm is verified by numerical examples.