Controller Design for Delay Margin Improvement

TL;DR: This paper starts with an initial controller designed to satisfy the steady-state error requirement, and shows how one can modify it to improve the delay margin without changing the Steady- state error.

Abstract: Two important design objectives in feedback control are steady-state error minimization and delay margin maximization. In general these two objectives work against each other. This paper starts with an initial controller designed to satisfy the steady-state error requirement, and shows how one can modify it to improve the delay margin without changing the steady-state error.