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Classical Feedback Control
Chapter 4   Shaping the Loop Frequency Response
4.1   Optimality of the compensator design
4.2   Feedback maximization
   4.2.1   Structural design
   4.2.2   Bode step
   4.2.3   Example of a system having a loop response with a Bode step
   4.2.4   Reshaping the feedback response
   4.2.5   Bode cutoff
   4.2.6   Band-pass systems
   4.2.7   Nyquist-stable systems
4.3   Feedback bandwidth limitations
   4.3.1   Feedback bandwidth
   4.3.2   Sensor noise at the system output
   4.3.3   Sensor noise at the actuator input
   4.3.4   Non-minimum-phase shift
   4.3.5   Plant tolerances
   4.3.6   Lightly damped flexible plants; collocated and non-collocated control
   4.3.7   Unstable plants
4.4   Coupling in MIMO systems
4.5   Shaping parallel channel responses
4.6   Problems
Notation relevant to Chapter 4