In a negative feedback loop i understand the mistake of canceling unstable poles. But take for example a plant


and an I-control

$F(s)= \frac{1}{s}$

Then the system has the transfer function

$T(s)= \frac{FG}{1+FG}=\frac{\frac{1}{s}}{(s+1)+\frac{1}{s}}$

My question is: Is it valid to cancel s=0 poles? so that system becomes

$T(s)= \frac{1}{s^2 +s +1}$

Or does it go against cancelling unstable poles?

  • $\begingroup$ I see only I-Controller. $\endgroup$
    – CroCo
    Nov 11 '18 at 5:28
  1. Do not ever cancel poles. You will affect observability and/or controllability. Unstable poles are even worse. Bibo stability of a zero depends on its order.

  2. I dont see any pole cancellation in your example.

  3. In practice you always use PI, never I on its own.


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