image

and hence is stable. Note that the fact that PM>0 implies that T(jω¯)<1image, where ω¯image is the frequency at which arg(T(jω¯))=πimage, that is, the gain margin is also positive.

From Equation 67 it follows that

arg(T(jωc))=ωcT++tan1ωcK+tan1ωc2N/C(T+)2+tan1ωc1/T+ (73)

(73)

Since

ωc=0.1min{2N(T+)2C,1T+}

it follows that

ωcT+=0.1min{2NT+C,1}

so that ...

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