What are the tradeoffs between designing a compensator with

What are the tradeoffs between designing a compensator with squareroot locus or with frequency response?

Solution

A lead-lag compensator combines the effects of a lead compensator with those of a lag compensator. The result is a system with improved transient response, stability, and steady-state error. To implement a lead-lag compensator, first design the lead compensator to achieve the desired transient response and stability, and then design a lag compensator to improve the steady-state response of the lead-compensated system