“…These include poleplacement, 11 partial pole-placement, 12 eigen-structure assignment, [13][14][15] phase compensation, 16,17 and phase shaping. 18 The pole-placement is a straightforward method with an advantage of assignment of the closed-loop poles, however, leading to complex models and, therefore, the difficulty in designing complex controllers arises. 19 Furthermore, many classical methods prevalent in the literature [20][21][22][23][24] require reduction of the system model before designing the controllers.…”