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

G(s) K s(s/2+1)(s/6+1)* We want to have a velocity error constant of K, = 20. We also want to have a phase margin of P.M. 45 and a closed-loop bandwidth wg 4 rad/s. Use two identical cascaded phase-lead compensators to com- pensate the system.