Lag Compensator Design

This lecture covers the design of lag compensators in control systems, focusing on increasing low-frequency gain without affecting transient behavior. It explains the concept of phase lag compensators, lead compensators, and their utility in reducing steady-state errors. The instructor provides examples to illustrate the design process, emphasizing achieving a phase margin of at least 40° and improving steady-state error performance. The relation to PI controllers is discussed, highlighting the similarities and differences. The lecture concludes with a discussion on PID coefficients and robustness margins, providing insights into gain and phase margins for stability analysis.