qbopt(P3) will be small if |P3(jw)| is large around the
frequency of w=1(the modulus of the right-half plane
qFor zeros with the same modulus, bopt(P3) will be smaller for a
plant with relatively larger real part zeros than for a plant with relatively larger imaginary part
zeros (i.e., a pair of real right-half plane zeros has a much worse effect on the
performance than a pair of almost pure imaginary axis right-half
plane zeros of the same modulus).