P10.20 An uncompensated control system with unity feedback has a plant transfer function

We want to have a velocity error constant of Kυ = 20.

We also want to have a phase margin of P M. . = 45°

and a closed-loop bandwidth ωB ≥ 4 rad s. Use two identical cascaded phase-lead compensators to com

pensate the system.

G(s)= K s(s/2+1)(s/6+1)