Synthesis of fixed-order compensators

In classical design, a low-order compensator is applied to a given plant. In this paper, we present an algebric construction of low (or fixed)-order compensators. Using the theory of root clustering, we achieve the following design requirements: closed-loop relative stability, relative stable compensators, and compensator's zero inclusion. In addition, we present a general robust analysis for real parameters. To reduce the computational difficulties, we suggest the use of low-order compensators.