Using MatLab, design phase-lag compensator such that the resulting controlled system has a Phase Margin of at least 45 and at most 65 with a static error constant coefficient in the range of 110 to 130. Document the design process. Verify your design by determining/showing the explicit form of the compensator, resulting Phase Margin, Gain Margin of the compensated system, as well as including step responses of the uncompensated system, gain adjusted system, and lag-compensated system. For a unity feedback control system with plant transfer function of G(s) = s + 4/( (s + 2)(s + 6)(s +8))