disturbance. The specifications, e.g. can be bounds on overshoot Mp, rise time tRand settling ee Fi The requirements can also be formulated in the frequency domain as specifications for the open loop or closed loop transfer function, for example as conditions on a closed loop resonance ak MRor bandwidth fM see Figure V4 y +1% 1.0 0.9 Figure V3: Time domain des ign specifications: conditions on Mp, trnd tofor outp ut y by a al 0 f Figure V4: Fr cy 1.2 CI SSicL I COB Prns toA DrSign Mrthods A majority of the methods, that are applied to the design of compensators, presume an exact model of the process with an emphasis on items Vf3 1. Fecb a. cEk n￾
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