Cascade lead compensation ◆ Introduction o The proportional plus derivative compensator has the unfortunate property that its high frequency gain is infinite This means that high frequency effects such as sensor noise and un-modelled high-frequency dynamics, e.g resonance terms, will be amplified with potentially disastrous effects. Of course, a real physical derivative operator cannot be implemented and any implementation will actually have poles that will limit the high-frequency gain. Recognizing this, an alternative to the pure P+D +D(S)=K D +K rop (6.1) 2022-2-3 32022-2-3 3 Cascade Lead Compensation ¨ Introduction ¨ The proportional plus derivative compensator has the unfortunate property that its high frequency gain is infinite. This means that high frequency effects, such as sensor noise and un-modelled high-frequency dynamics, e.g. resonance terms, will be amplified with potentially disastrous effects. Of course, a real physical derivative operator cannot be implemented and any implementation will actually have poles that will limit the high-frequency gain. Recognizing this, an alternative to the pure P+D P D prop D  (s)  K D s  K (6.1)