AP10.5 A unity feedback system is shown in Figure AP10.5. We want the step response of the system to have a percent overshoot of P O. . ≤ 10% and a set

tling time (with a 2% criterion) of Ts ≤ 4 s. 

(a) Design a phase-lead compensator G s c( ) to achieve the dominant roots desired.

(b) Determine the step response of the system when G s p( ) = 1.

(c) Select a prefilter G s p( ), and determine the step response of the system with the prefilter.

FIGURE AP10.5 Unity feedback with a prefilter. 10 R(s) Gp(s) Ge(s) Y(s) s(s+1)(s +10)