Further Guidelines for Loop Shaping
Let P = NM-1 be normalized right coprime factorization.
Then
small l(P) Þ small bopt(P)
Let the open right-half
plane zeros and poles of P be:
z1, z2,…, zm, p1, p2,…, pk
Define
Then P(s)=P0(s)Nz(s)/Np(s)
where P0(s) has no open right-half plane zeros and poles.
