Q4. Design a lag-lead compensator such that the dominant closed-loop poles are located at s 21j2v3 and the velocity error constant satisfy Ky 50sec. Plot the unit-step and the unit-ramp responses using MATLAB 10 Gs)s2) (S + ) Q4. Design a lag-lead compensator such that the dominant closed-loop poles are located at s 21j2v3 and the velocity error constant satisfy Ky 50sec. Plot the unit-step and the unit-ramp responses using MATLAB 10 Gs)s2) (S + )