Consider unity fedback system that has a plant.
\(G(s) = K / s(1+0.02s)(1+0.1s)\)
The phase margin needs to be at least 45 degrees.
The error for a ramp input should be less than 5%
Add the lag compensator using bode plots. Show the characteristics (margins) of uncompensated and compensated system to explain the preocess of determining parameters.