Referring to the article on k factor, I am just trying to understand. I do not have transfer function of the whole system. What I know is that 1st order filter is providing phase lag for which i need to compensate. I tried to design type 2 compensator with your proposed method, but I ended up with the transfer function whose bode plot resembles as desired, but when used in the system (implementing in simulink) the output simply saturates without converging. kindly advice
eg: 1st order LPF TF= 1/.1s+1 (cut off - 1Hz)
type2 compensator TF = 1/s *(1+.025s)/1+.007s)