Tuning the leading roots of a second order DC servomotor with proportional retarded control

The stabilization of a second order system through a proportional delay controller insuring a specified closed loop exponential decay s is studied. The analysis in the frequency domain allows the determination of the s-stabilizability regions of the controller. The locus of the dominant roots is analyzed in detail and the characterization of some key loci, including the maximum achievable decay is obtained. The tuning of a DC servomotor experimental setup illustrates the results.