What is the difference between controllers and compensators

While searching for answer the most prominent answer I got was that compensator have magnitude=1 and is used to make sure the system fulfill its requirements (G.M.,settling time etc.) while controller makes sure that output tracks the reference input.

If I consider the above difference valid I still don't get that what is tracking and reference input mentioned.

Please also mention the positions of placement of compensator and controller in a basic control system blocck diagram

  • \$\begingroup\$ No difference, just historical in some control engineering branches. \$\endgroup\$ – Chu Jul 25 '19 at 15:51

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