Design of a Phase-Lag Compensator Using MATLAB

The desired phase margin is 60 o .

1. G p ( s )

10
s 2s
2

2. 1 0.917
3. o 0.0917
4. p o / | G p ( j 0.917) | 10
5.
Transfer function:
10.71 s + 1
----------53.05 s + 1

13.9 / 20

0.0917 / 4.9545

6. The bode plots of the compensator-plant system:

6. Step response

7. The MATLAB code.