Use frequency response approach to design a cascade lag-compensator for the system in unity feedback with loop transmittance

\[
\mathrm{G}(s)=\frac{\mathrm{K}}{s(0.25 s+1)}
\]

so as to achieve the following design specifications:

(i) The steady state error to a ramp input \(\leq 0.01\)

(ii) Phase margin \(\phi_{m s} \geq 40^{\circ}\)