Handout 12: Plants with right half-plane zeros Eric Feron March 15, 2004 The worst of all (but they exist)! Example: The Star Market vs. Home Depot dilemma Star Market cart: Casters mounted under cart front. θ ˙ used to steer cart rear deviation y from reference lane. G(s) = y θ ˙ = 1 2 s 1 Home Depot cart: Casters mounted under cart back. Use again θ ˙ to steer cart rear deviation y from reference lane. 1 ? s G(s) = y θ ˙ = 2 s 2 Root-locus and frequency responses: Star Market: Home Depot: 3 Design lead compensation for Star Market Home Depot 4