Consider the stabilized precision rate table uses a precision tachometer and DC direct drive torque motor yielding an open-loop transfer function given by: G(s) = K/(0.1s + 1)(0.1+ s) a. Design a phase lag compensator to achieve the required specifications (1) the position error of the rate 0.1% and the phase margin 245 degree. b. In Matlab/Simulink, simulate the uncompensated system and compensated system with unity feedback. For both systems, find the performance measures such as P.O., Settling time, time to peak, rising time and steady state error due to step and ramp input signals.