1-Sisotool

In order to design a Lead-Lag compensator, you must first start designing a Lead compensator alone.

Lead Compensator

Open Sisotool (we will use G(z) from previous methods).

sisotool(Gz)

1. Add a zero and a pole to its left
2. Move the zero and pole to make the branches closer to the center of the unitary circle
3. Move the pink dot over the branches to see the maximum gain allowed by the compensator
4. Open Edit Compensator and save the values that appear there, we will use them for the next steps.

Figure 1. RLD after adding a zero and a pole to its left.

Figure 2. Move the pole and zero in order to get the branches closer to the origin. Note how the pink dot is also over the closest point to the origin.

Figure 3. After moving the pink dot (and round up the values) you should see something like this. Save these values for later.