Sequential

Independent

Simultaneous

Loop1

Loop2

Loop1

Loop2

Loop1

Loop2

Classical GM

GMf requency (rad/min)

Inf,

Inf

Inf,

Inf

Inf,

Inf

Inf,

Inf

Inf,

Inf

Inf,

Inf

Classical PM (degs.)

PMf requency (rad/min)

68.51

0.11

64.96

0.11

82.90

0.56

55.88

0.07

34.66

0.04

35.02

0.05

Disc GM

[0.19 0.17]

[0.23 4.47]

[0.12 9.39]

[0.31 3.27]

[0.54 1.87]

[0.53 0.90]

Disc PM and

PMf requency (rad/min)

±68.21

0.11

±64.77

±77.84

0.17

±55.97

0.07

±33.70

0.04

±34.55

0.04

Multiple GM

Nil

Nil

[0.35 2.88]

[0.70 1.43]

Multiple PM

PMf requency (rad/min)

Nil

Nil

±51.74

0.0854

±20.05

0.0431

Worst case gain

Nil

Nil

[0.24 4.12]

[0.53 1.89]

[0.88 1.13]

[0.90 1.12]

Worst case phase

±62.94

±34.14

±7.16

±6.69