(Solved): Let the feedback system be represented in the figure below: Design a phase-advance compensator such ...

Let the feedback system be represented in the figure below:

Design a phase-advance compensator such that:
- the stationary error due to a unit ramp is less than or equal to 5%
- the phase margin is at least 45º

(a) calculate the system phase margin without compensation (stationary error satisfied)
(b) determine the maximum phase advance
(c) determine ?
(d) determine ?max (the frequency of 0dB for the compensated system)
(e) calculate the pole and zero of the compensator and determine the transfer function GC(s)
(f) verify that the compensated system meets the design specifications