8+0.5 = 4. Consider a system with a lead compensator Ge(s) = +0.13 followed by a plant G(s) = 10 Determine a value for a gain K on the error signal such that the phase margin s(s+1) of the open-loop transfer function is 60 degrees. Recall, the open loop transfer function is L(s) = KG,Ge(s). 5. Consider a feedback system with a PID controller and the following plant transfer function 4 Gp(s) = s(s+1)(s+2) (3) The objective of this question is to design a PID controller to meet the following criteria The open-loop transfer function has a phase margin of 50 degrees at a desired gain crossover frequency of Wac = 1.7 rad/sec