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Tire plant dynamics of a chemical process are represented by

We desire that the system have a small steady-state error for a ramp input so that K_v = 100. For stability purposes, we desire a gain margin of 10 dB or greater and a phase margin of 40° or greater. Determine a lead-lag compensator that meets these specifications. Assume the system is of the form shown in Figure 10.1(a) with H(s) = 1.

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