Desired Bode plot shape Ess requirement Noise requirement 0 -90 -180 0dB gcd High low-freq-gain for steady state tracking Low high-freq-gain for noise.
Where is w=0+, where is w=0-, where is w=+inf, where is w=-inf, what is the system type, what is the relative order of the TF, how should you complete.
PI Controller Design
Proportional controller design
