Example 2 For a type 0 system G (S+1)(S+2) (6.8) the zero should be used to cancel the pole at. We leave it as an exercise to prove that the compensator gives the desired closed-loop poles s+2 D,=2.5 (6.9) You should note that the lead compensator zero will still appear in the closed-loop transfer function 2022-2-11 112022-2-11 11 the zero should be used to cancel the pole at . We leave it as an exercise to prove that the compensator gives the desired closed-loop poles. ( 1)( 2) 2 2    s s G          3 2 2.5 2 s s D (6.8) (6.9) For a type 0 system Example 2 Note You should note that the lead compensator zero will still appear in the closed-loop transfer function