Pure gain compensators are generally known as proportional or P controllers. Such controllers can be used to satisfy phase margin requirements of a compensator-plant system. However, the frequency at which the phase margin requirement is satisfied, cannot be controlled by gain compensation alone.

**To design a gain
compensator**

1.
Generate the Bode magnitude and phase plots of the open-loop transfer function
*GH*(*s*).

2.
Determine the frequency ω* _{pm}* at which the desired phase margin
occurs.

3.
Determine the magnitude of *GH*(*s*) corresponding to
ω* _{pm}*. Let this magnitude be

4. Use a gain of:

5. Generate the Bode magnitude and phase plots and check the phase margin. To fine-tune the gain, make small changes about: