Given the system with transfer function: G(s)=(2s+0.1)/[s2+0.1s+4] Design a phase-lag compensator GC(s) such that, in closed loop, the phase margin is approximately 50, and the gain margin is GM 8 dB. Consider a static position error constant Kp=4

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Given the system with transfer function: G(s)=(2s+0.1)/[s2+0.1s+4] Design a phase-lag compensator GC(s) such that, in closed loop, the phase margin is approximately 50, and the gain margin is GM > 8 dB. Consider a static position error constant Kp=4

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