Control system design via Axelby's approximate performance criteria

In control system design, when a designer tries to meet one of the specifications in a certain domain, he usually wants to know what are the corresponding changes on the indices in the other domains. For this purpose, many rules of thumb are developed by experienced engineers. Axelby summarized the rules of thumb for feedback control design into seven rules. His work is introduced and then examined analytically. The limitations of his rules are established. It is also found that one of his rules should be modified.