Question: Consider the plant transfer function Gp(s) = 1 s(s+1)(s+2) . (a) Design a compensator Gc(s) = K so that PM = 50 . What is

Consider the plant transfer function Gp(s) = 1 s(s+1)(s+2) . (a) Design a compensator Gc(s) = K so that PM = 50 . What is K? (b) Design a lag compensator to increase K by a factor of 2 with little effect on the phase margin

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