E9.12 A unity feedback system with the loop transfer function

where t1 = 0.01 and t2 = 0.3 s.

(a) Select a gain K so that the steady-state error for a ramp input is 20% of the magnitude of the ramp function A, where r1t2 = A1t2, t Ú 0.

(b) Obtain the Bode plot of loop transfer function, and determine the phase and gain margins.

(c) Determine the bandwidth vB, the resonant peak Mpv and the resonant frequency vr of the closed-loop system.

K Ge(s)G(s) = s(1715)(1725)