Compensators are designed for a plant to optimize its transient response during load disturbances and changes in reference input, and subject to constraints on plant input, peak displacements during the transients, and speed of response. Optimum controller parameters are determined here by making a sequence of 2D minimizations, approximating the design criterion and constraints with polynomials, and using contour plots for estimating the 2D minimums. Contour plots generated help identify the feasible design region and show the influence of the design variables and constraints on the system performance. Finally, sensitivity curves are generated at the optimum to aid the designer in making trade-offs between competing objectives and to select a new design when system requirements are modified.

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