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Consider again the system and specifications of Exercise E10.15 when the required crossover frequency is 2 rad/s.

Exercise E10.15

A unity feedback control system has a plant transfer function

We desire to attain a steady-state error to a ramp r(t) = At of less than 0.05/1 and a phase margin of 30°. We desire to have a crossover frequency ω_c of 10 rad/s. Use the methods of Section 10.9 to determine whether a lead or a lag compensator is required.

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