Design a compensator for the plant so that the static velocity error coefficient will be C v = 20/sec and the phase margin at least 45 . Consider a unity-feedback system having the open-loop transfer...

Design a compensator for the plant

so that the static velocity error coefficient will be C_v
= 20/sec and the phase margin at least 45.

Consider a unity-feedback system having the open-loop transfer function

Derive the following expression for this system’s phase margin.