CACSD tools for loop gain-phase shaping design of SISO robust controllers

The steps in loop gain-phase shaping (LGPS) and a family of CAD tools that make LGPS a realistic design procedure are described. Several examples demonstrating the use of these tools and the performance advantages of LGPS over classical loop shaping and its derivatives are presented. It is reported that the LGPS approach uses phase information explicitly, providing an increased range of applicability, reduced bandwidth requirements, more accurate control of performance robustness, and convenient control of relative stability robustness.<>