Loop-shaping controller design (High-speed response) To be completed by the student, as a Homework assignment. Instructions: 1. Use the following 2nd - order, open-loop transfer function, G(s): 1.02 0.172s20.19s+1 2. Use a lag compensator of the form, s+ W1 Klag(s) = S 3. Use two phase - lead compensators. 4. Achieve the following design specifications: a. Crossover frequency: High-speed response: Wc tolerance b. Phase and gain margins: PM ≥ 90°, GM ≥ 7 dB = 8 rad with 1% S c. Steady-state error: There must be zero steady-state error, in response to a step in the reference signal. 16

Fig: 1