For the system and requirements of Problem P10.39, determine the required compensator when the steady-state error for the ramp input must be equal to 0.02.
Problem P10.39
A unity feedback systeahas a plant
We desire that the phase margin be equal to 30°. For a ramp input r(t) = t, we want the steady-state error to be equal to 0.05. Design a lag compensator to satisfy the requirements. Verify the results.