The block diagram of a position control system is shown in Figure P12.7. Design a compensator for

Question:

The block diagram of a position control system is shown in Figure P12.7. Design a compensator for the particular plant
Gp (s) = 1 / s (s2 + 3s + 2)
So that the static velocity error coefficient will be Cu = 10/sec, the gain margin will be no less than 10 dB, and the phase margin no less than 50o.