“…According to this method, the regulator gains Kv and Tv are selected such that the amplitude and the phase plot of GHv (s) are symmetrical about the crossover frequency ωgc, which is at the geometric mean of the two corner frequencies of GHv (s). Now, assume Tv = aTd, where 'a' is a nonnegative real value, therefore, expressions of gain-cross over frequency ωgc and PM become the following: ) to vary according to (6) which in turn alters the designed gain crossover frequency or the closed loop bandwidth. The expressions for gain crossover frequency can be found by solving (13).…”