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Hello All, I'm trying to understand what situations would compel you to use a compensator with imaginary components (that is s = x+jy). Such a compensator would have some oscillatory component about it, but that doesn't seem useful. Because they come in pairs, is it when you need 2 poles or...

If I have an encoder on a rotating joint, I know the position, and if I differentiate, I know I can get velocity and acceleration. If my state space controller requires velocity and acceleration, does that mean I am able to observe those values? Observability doesn't necessarily mean you need a...