Traditionally, servo engineers have designed discrete-time lead compensators by first designing a lead compensator in the w-domain, and then converted to the z-domain by using a bilinear transformation with frequency prewarping. This technical note presents two new simple formulas for determining the zero and the pole of a discrete-time lead compensator directly in the z-domain from the desired maximum phase lead and the desired frequency at which that phase lead should occur. [S0022-0434(00)01502-1]

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