2. a, Searching along the 126,16° line (10% overshoot, & = 0.59), find the operating point at 1,441.92 with K = 20, Hence, Kp = ms = 1.333, b. A. improvement will yield K, = 4, Use a lag compensator, Ges) ©. Timetevcansed240 Chapter 9: Design Via Root Locus1.5), find the operating point at -1,5314j2.652 13, Lead compensator design: Searching along the 120° tne (C var 10 aecrease by 0.9 second, with K = 354.49. This 't, = 4 2.61 seconds. Fur de seul Ts = 2.11 seconds, or Ri 9. The imaginary partis -1.9 tan 60° = 3.29, Hence, the Compensated dominant poles are -1.04}3,29, “The wanipensator Zero 1s at -3, Using the uncompensated system's poles along with the compensator zero, the summation of angles Wo the design point, -1.92)3.29 is -166.09°, Thus, the contrition of the camponeator Pole must be 166.09°-180° = -1391°. Using the following geomeuy, i 120-5 = tan 13.91°, oF pe = 15.18 s-plane ° Adding the compensator pole snd using -.94j3.20 as the test point, K = 1416.63 Computer simulations yicid the following: Uncompensated: Ty =3 seconds, EOS = 14.6%. Compeusated: Ty = 2.8 seconds, 03 = 13.97.