Design lead-lag compensators for permanent magnet synchronous motor in W-plane

This work proposes the design of a lead-lag compensator for a permanent-magnet synchronous motor applying the Tustin method to obtain stability as a tool to avoid a separated transformation for continuous and discrete time. Therefore some problems of the adaptation between S-plane and Z-plane can be circumvented. As a main tool to achieve control and improve the transient response, the root locus approach is applied. The results are corroborated with experiments.