128 
30 
20 
_ 
oO 
oO 
20 logig INGH| 
—10 
—20 
Step responses 
SAMPLED-DATA CONTROL SYSTEMS 


(s+0.2)(s+1) 
Nisl=0.9 (40.06)6+3) 
Gain 
100 
--——_—_ 
~ 
—50 
—75 
Fia. 6.9. Bode plot for lag-lead compensation. 
1.6 ya Uncompensated 
1.4 Lag network 
Ve 

12 
1.0 
0.8 
~Lag-lead network 

0.6 
0.4 
0.2 
0 1 gh Se EN Gyre! (Sirk) TH Se alee 
Time 
Fic. 6.10. Time responses for example problems. 
Phase margin 
