Consider the plant given by G(s) = 1 s(4s + 1) (a) Design a phase lead compensator for the requirements of the static velocity error con- stant of 2s-, and at least 75 desired phase margin at the desired gain crossover frequency of 5 rad/s. Obtain time and frequency domain responses of the phase lead compensated system. (b) Design a PD control system for the requirements of at least 75 desired phase margin at the desired gain crossover frequency of 5 rad/s. Obtain time and frequency domain responses of PD controlled system. (c) Compare the results of phase lead compensated, PD controlled and basic unity feedback controlled systems.