Question: 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

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 $\phi_{m s} \geq 40^{\circ}$

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