E9.17 A unity feedback system has a loop transfer function

(a) Obtain the Bode plot, and

(b) determine the gain

K required to obtain a phase margin of P M. . = 56°.

What is the steady-state error for a ramp input for the gain of part (b)?

Ge(s)G(s) = K(s+4) s (s + 3s+20)