Design a lag-compensator for a unity feedback system with forward transmittance [ mathrm{G}(s)=frac{mathrm{K}}{(s+1)(s+3)(s+5)} ] to yield the

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Design a lag-compensator for a unity feedback system with forward transmittance

\[
\mathrm{G}(s)=\frac{\mathrm{K}}{(s+1)(s+3)(s+5)}
\]

to yield the following specifications:

(i) peak overshoot \(\leq 10 \%\)

(ii) step error coefficient \(\geq 4\)

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