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I cannot tune my system using PI controller nor design compensator to my system

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tvssnk

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my control to output transfer function is

-2.155e-005 s^2 - 0.3684 s + 1680
---------------------------------------------------------------
1.904e-015 s^4 + 9.52e-012 s^3 + 4.31e-007 s^2 + 0.001213 s + 5

Its poles are :
1.0e+004 *

-0.1029 + 1.4374i
-0.1029 - 1.4374i
-0.1471 + 0.3238i
-0.1471 - 0.3238i

Its zeros are

1.0e+004 *

-2.0838
0.3741

I have one RHS ZERO which is creating problem and also my system is fourth order system , so I am unable to design a compensator or controller.

Can any one tell me the solution

The transfer function of what i have mentioned before is for an AC-AC converter.
Plzz help.Thank You....
 

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