Consider an unity feedback ystem nth a plast travear function: G (s) = s(+4) using the root loour approach design a lag compensator such veloaty error constant is 50: without Bufcently changing location of the orgina closed loop. pole at s- - 2 = jro (keeping speed gan error within 24.) What is the amplit hore and angle erros introduced by compensator hint: Velocity error constant , limesacs) T 4.3. Consider an unity feedback system with a plant transfer function G(s) = s(s+4) Using the root locus approach, design a lag compensator such that the velocity error constant is 50 s- without significantly changing the location of the original closed loop pole at s = -2 =jV6 (keeping the gain error within 2%). What is the amplitude and angle error introduced by the compensator? Hint: Velocity error constant: e1 = limg70 G(s)