P10.17 A unity feedback control system for a robot submarine has a plant with a third-order transfer function

[20]:

We want the percent overshoot to be P.O. = 7.5, for a step input and the settling time (with a 2% criterion)
of the system be Ts = 400 ms. Find a suitable lead compensator by using root locus methods. Let the zero of the compensator be located at s = -15, and determine the compensator pole. Determine the resulting system Kv.

G(s) K s(s+10)(s+50)*