Generalized Kalman-Yakubovich-Popov Lemma Based I-PD Controller Design for Ball and Plate System

Table 2

Relation between Ψ and Ω for continuous time.

Ψ	Ω
0−𝑗𝑗2𝜛ℓ	𝜔≤𝜛ℓ (low)
−1𝑗𝜛𝑐−𝑗𝜛𝑐𝜛1𝜛2	𝜛1≤𝜔≤𝜛2 (middle)
0𝑗−𝑗−2𝜛ℎ	𝜛ℎ≤𝜔 (high)