Lead, lag or PI?
Which controller best meets an error, speed and effort requirement under the same load?
Try it in the current lab
Pin this PI baseline, select Lead and Lag in Controller, and write down one reason for the preferred run.
Pin a PI run, switch to lead and then lag without changing target or load. Compare final error, settling and applied voltage; inspect Bode only for the unsaturated linear loop.
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
PI can remove persistent error but can wind up; lead adds phase near a band; lag improves relative low-frequency gain without guaranteeing zero error. The design objective and actuator limit decide the tradeoff.
Connect the design method
Use one declared objective: persistent error, speed or input effort. Pin PI, then tune Lead and Lag with the same target and load. The stock presets are examples, not equal-performance optimizations; explain what you gave up for the preferred result.
Clead/lag(s) = K(s+z)/(s+p); CPI(s) = Kp + Ki/s