I found a page on the web last year that gave a procedure for lead compensator design without all the heavy maths, and now that I want to find it again I can't.
It was at the end of a nice tutorial that went through designing a motor control system which introduced an integrator (for stability) and then a lead compensator (for speed), for a fictional customer.
It was something along the lines of
"simulate your system, and plot the main pole and zero, choose your capacitor and series resistor based on one of these (I can't remember how this bit worked), and the feedback resistor is based on something ten times what you got, then you simulate it again and trim the values a bit"
Anyway, I did it and it worked and it was quite easy, but now I want to document the procedure for other non-mathematical people, and can't find the page!
Can anyone help re-create the procedure?