10. The unity feedback control system of one robot joint has the process transfer function 20 G(s) s(s+2) In this problem, the specifications require (a) steady state error for a unit

ramp input of 0.02, (b) overshoot P.O. ≤ 15% and settling time of T, ≤ 1 for a step response input. Determine a lead-lag compensator that will meet the specifications, and plot the com- pensated responses for the ramp and step inputs. 5