A unity feedback control system has a plant transfer function

We desire to attain a steady-state error to a ramp r(f) = At of less than 0.05/1 and a phase margin of 30°. We desire to have a crossover frequency coc of 10 rad/s. Use the methods of Section 10.9 to determine whether a lead or a lag compensator is required.

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40 G(s) = s(s+2) Controller Process R(s)