For minimum phase systems, one takes Lz = kΥ Toz, where 0 < kΥ < 2 ; and kΥ' are selected through trade-off between robustness and performance HillerstrÃ¶m and Lee, 1997.
En los sistemas de fase mínima resulta Lz = kΥ Toz, con 0 < kΥ < 2 ; donde kΥ se selecciona mediante un compromiso entre robustez y desempeño Hillerström y Lee, 1997.