@article{LI2009, 
author = {Zhiheng LI and Shengchao YIN and Yi ZHANG and Li LI},
title = {Sum-of-Squares Design Method for Four-Parameter Lag-Lead Compensator},
year = {2009},
journal = {Tsinghua Science and Technology},
volume = {14},
number = {6},
pages = {732-734},
keywords = {lag-lead compensator, polynomial function optimization, sum of squares (SOS), semi-definite programming (SDP)},
url = {https://www.sciopen.com/article/10.1016/S1007-0214(09)70142-7},
doi = {10.1016/S1007-0214(09)70142-7},
abstract = {The four-parameter lag-lead compensator design has received much attention in the last two decades. However, most approaches have been either trial-and-error or only for special cases. This paper presents a non-trial-and-error design method for four-parameter lag-lead compensators. Here, the compensator design problem is formulated into a polynomial function optimization problem and solved by using the recently developed sum-of-squares (SOS) techniques. This result not only provides a useful design method but also shows the power of the SOS techniques.}
}