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( p )

and the desired specifications for loop 1, the compensator of Eq. (10.63) is found, satisfying all the performance objectives (see Fig. 10.11a). The design also fulfils the first two stability conditions: that is to say, a) L (s) = g(s) (p ) satisfies the Nyquist encirclement condition and b) no RHP pole-zero cancellations occur between g (s) and (p ).