The stability and performance of the rotation of a robot (similar to waist rotation) presents a challenging control problem. The system requires high gains in order to achieve high resolution; yet a large overshoot of the transient response cannot be tolerated. The block diagram of an electro hydraulic system for rotation control is shown in Figure P10.24 [15]. The arm rotating dynamics are represented by


We want to have K" = 20 for the compensated system. Design a compensator that results in an overshoot to a step input of less than 10%.