When using an electrolytic or large-ESR tantalum output capacitor, the capacitor ESR zero fZO typically occurs between the LC poles and the crossover frequency fO (fPO < fZO < fO). Choose Type II (PI—proportional-integral) compensation network. When using a ceramic or low-ESR tantalum output capacitor, the capacitor ESR zero typically occurs above the desired crossover frequency fO, that is fPO < fO < fZO. Choose Type III (PID—proportional, integral, and derivative) compensation network.