Yeah, Thanks for all your replies. I still need the answer for choosing location of pole and a zero for a type2 compensator. Also difference between tracking rate and bandwidth. Why two terms? It looks alike.
"In this case, to perfectly track a ramp input, which has two poles at the origin, there needs to be two poles at the origin in the transfer functions of the blocks in the loop"
Got it. I tried to simulate (1/s^2)forming a closed loop in simulink. For a Ramp the output is simply unstable...
Trying to understand the importance of type2 servo. I read in books that to get zero velocity lag, type2 system is suitable. I have difficulty understanding this concept intutively, while mathematically I am clear. A type 2 has two poles at origin. This means, double integeration. A ramp input...
