A unity feedback system with the loop transfer function

where T1 = 0.02 and T2 = 0.2 s. (a) Select a gain K so that the steady-state error for a ramp input is 10% of the magnitude of the ramp function A, where r(l) = At, ‰¥ 0. (b) Plot the Bode plot of Gc(s)G(s), and determine the phase and gain margins. (c) Using the Nichols chart, determine the bandwidth ωB, the resonant peak M/)pω, and the resonant frequency ωr of the closed-loop system.

(s) = Ge(s)G(s) = s(ns + 1)(T2s + 1)