Q2] Consider the system shown in Figure (1). Design a compensator such that the closed-loop system will satisfy the requirements that the static velocity error constant K, is 20 sec-1, phase margin is 50°, and gain margin is not less than 10 dB. Verify the compensator to satisfy the requirements. P leud Comfanstor 10 Y(s) Output R(s) Input +) Gc(s) s(s + 1)

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