Shape phase with lead
Can a zero before a pole quicken the response without an integrator?
Try it in the current lab
Pin the lead run, move the zero toward the pole, and inspect the frequency workbench.
Compare the Bode phase margin, rise and steady error while moving the lead zero and pole.
The lab recalculates after a setting changes. Pin a run before changing one variable; the response and control-effort plots share the same replay time. PID experiments also show the P/I/D terms; estimator experiments show measured and estimated states.
What the system is doing
A lead network adds positive phase over a band. It can improve the speed–robustness tradeoff but its finite DC gain does not guarantee zero steady error.
Connect the design method
Lead places its zero below its pole and can add phase near a chosen crossover. Move z toward p, then inspect both the Bode plot and the saturated time response; a phase margin describes the linear loop, not every nonlinear run.
C(s) = K(s + z)/(s + p), z < p