Question: The block diagram of a position control system is shown in Figure P12.20. Design a compensator for the particular plant Gp (s) = 1 /

The block diagram of a position control system is shown in Figure P12.20. Design a compensator for the particular plant
Gp (s) = 1 / s(s2 + 3s + 2)
So that the static velocity error coefficient will be Cu = 5/sec, the gain margin will be no less than 10 dB, and the phase margin no less than 40o.
Figure P12.20

(s) G1(s) s(ls c) Controller Motor (s) G1(s) s(Ls R) (Is + c) Plant Gp(s) Controller

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