P10.10 A unity feedback system has the loop transfer function

(a) Determine the step response when G s c ( ) = 1, and calculate the settling time and steady state for a ramp input r t( ) = > t t , 0.

(b) Design a phase-lag compen

sator using the root locus method so that the veloc

ity constant is increased to 10. Determine the settling time (with a 2% criterion) of the compensated system.

L(s) = G(s)G(s) = G(s)- 5 s(s2 +5s+12)