Consider a unity - feedback system with: K s(s+1) Required: a) Use Bode Plot sketches to design a lead compensator so that the velocity error constant, K = 20 sec and the phase margin of the system is greater than 40. (You may use the analytical or the graphical method). b) Briefly state the effect of adding a lead compensator on the system's behavior and its advantage(s) over an ideal PD compensator.