Abstract
For some time now, many practitioners and researchers in the control area have been aware that unstable open loop poles, non-minimum phase zeros, and/or time delays make control systems design difficult. In this paper we examine the nature of these difficulties by discussing the results of Freudenberg and Looze (1987, 1988) and Sung and Hara (1988) on integral constraints on sensitivity functions. One of the key conclusions here is a set of rules of thumb, giving limitations on the closed loop bandwidth which are imposed by unstable open loop poles, non-minimum phase zeros and/or time delays.
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