lag compensator low frequency gain similar to PI controller

lead compensator dominant closed loop dynamics

PID is good at low frequency compared to system poles
Truxals rules
the relative degree of the closed loop system should at least be equal to that of
the open loop system.
Gcl(s) to possess unity gain over as high a bandwidth as possible.
The third and final guideline is to choose Gcl such that the controller is stable.
only 1-Gcl(s) is suspect. Since it occurs in the denominator, we need to ensure
that the zeros of this transfer function are not in the right half plane (RHP).
design of robust control systems is one example where root locus trumps over bode
plots.
design for dominant pole dynamics-root locus
performance specs: loop gain magnitude
stability specs: phase curve
sensitivity dirt
phase and gain are interlinked by bode gain phase relation