Method 2 The following graphical method maximizes the ratio between pole and zero for any given angle contribution. This minimizes the additional compensator gain needed to satisfy the gain criterion. The steps in the location of the lead-compensator pole and zero are as follows(see Figure 2) Locate the desired closed-loop pole S. Draw a line from the origin to s, and a horizontal line through s, to the left 2. Bisect the angle between the two lines drawn in step 1 3. Measure the angle either side of the line drawn in step 4 The intersections of these lines with the real axis locate the compensator pole po and zero z( 0 2022-2-11 122022-2-11 12 Method 2 The following graphical method maximizes the ratio between pole and zero for any given angle contribution. This minimizes the additional compensator gain needed to satisfy the gain criterion. The steps in the location of the lead-compensator pole and zero are as follows (see Figure 2). 1. Locate the desired closed-loop pole s1 . Draw a line from the origin to s1 and a horizontal line through s1 to the left. 2. Bisect the angle between the two lines drawn in step 1. 3. Measure the angle either side of the line drawn in step 4. The intersections of these lines with the real axis locate the compensator pole p0 and zero z0