A non-trial-and-error method for lag-lead compensator design
Kai Shing Yeung, K. W. Wong, Kan-Lin Chen · IEEE Transactions on Education · 1998
A universal design chart for lag-lead compensators is given. This chart allows compensators to be designed without trial-and-error while meeting four specifications: steady-state error; phase margin; gain margin; and gain (or phase) crossover frequency.