E10.4 Consider a unity feedback system with

K G(s) = s(s+5)(s+10)' where K is set equal to 100 in order to achieve a spec- ified K,, = 2. We wish to add a lead-lag compensator Ge(s) = (s+ 0.15)(s+ 0.7) (s +0.015)(s+7) Show that the gain margin of the compensated sys- tem is G.M.=28.6 dB and that the phase margin is P.M.= 75.4.