1. Type II Compensator (Current-Mode Control):

$$H(s) = \frac{1 + s R_2 C_2}{s R_1 (C_1 + C_2) \left(1 + s R_2 \frac{C_1 C_2}{C_1 + C_2}\right)}$$

$$f_{z1} = \frac{1}{2\pi R_2 C_2}, \quad f_{p1} = \frac{1}{2\pi R_2 \left(\frac{C_1 C_2}{C_1 + C_2}\right)}$$

2. Type III Compensator (Voltage-Mode Control):

$$H(s) = \frac{(1 + s R_2 C_2)(1 + s(R_1 + R_3)C_3)}{s R_1 (C_1 + C_2)\left(1 + s R_2 \frac{C_1 C_2}{C_1 + C_2}\right)(1 + s R_3 C_3)}$$