Gündeş, A. N.Özbay, Hitay2020-01-242020-01-2420199783907144008http://hdl.handle.net/11693/52787Date of Conference: 25-28 June 2019Conference name: Control Conference (ECC), EuropeanTwo important design objectives in feedback control are steady-state error minimization and delay margin maximization. In general these two objectives work against each other. This paper starts with an initial controller designed to satisfy the steady-state error requirement, and shows how one can modify it to improve the delay margin without changing the steady-state errorEnglishConference Paper10.23919/ECC.2019.8796063