ABSTRACT
This chapter discusses techniques for designing higher-order controllers/compensators which will handle steady-state error problems while retaining reasonable system speed of response and tracking fidelity. In the study of continuous-time control systems it was found that if proportional control is employed, a steady-state error was necessary in order to have a steady-state output. It was also found that if an integrator replaces the proportional controller, the steady-state error can be made zero for a steady output. The chapter explores the design of compensator/controllers in the z-domain. It provides a detailed discussion of proportional plus integral plus derivative controllers and their tuning. The chapter also discusses the direct method of Ragazzini is developed and the synthesis of finite-settling controllers and ripple-free designs and presents examples.
