The manutec robot has large inertia and arm length

Question

The Manutec robot has large inertia and arm length resulting in a challenging control problem, as shown in Figure AP10.8 (a). The block diagram model of the system is shown in Figure AP10.8 (b).The plant dynamics are represented by

The percentage overshoot for a step input should be less than 20% with a rise time less than  second and a settling time (with a 2% criterion) less than 1.2 seconds. Also, we desire that for a ramp input K_v ≥ 10. Determine a suitable lead compensator.