The new procedure of controller design in the frequency domain with Bode diagram is described in this chapter. This method is based upon stability criterion of A. Leonhard, which was introduced 1940, but found only hardly implementation in the linear control theory. Renewed and edited by Zacher (2017) this stability criterion is developed to the engineering tool, called BAD (Bode aided design) because it allows not only check stability and tune a controller, but also design of controller directly in Bode diagram analog to CAD (Computer aided design). In opposite to the established Nyquist stability criterion no transfer function of the plant is required for BAD, sufficient is the experimental defined Bode plot of the plant. Even more: the Leonhard-Zacher stability criterion allows tuning of controller upon only one point of plant’s Bode plot and is applicable for stable and unstable plants. The use of Carson-Laplace transform made it possible to define the plant’s Bode plot experimentally not as usual from frequency response but from step response.


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