Consider a unity feedback control system with a plant,
\(G(s) = \frac{10}{s(s + 4)}\)
Design a phase-lag compensator G_c(s) such that the static velocity error constant K_v is 50 sec^-1 without appreciably changing the location of the original closed-loop poles, which are at:
\(s = -2 \pm j\sqrt{6}\)