This post will show my solution to Example 11.4 in Nise [1]. The design objective is to build a lag-lead compensator for the system shown below. The performance specifications are:

(1) 13.25% overshoot
(2) Peak time of 2 seconds
(3) Steady state error constant for a Type 1 system Kv = 12

The solution is shown below.

Figure 1

Figure 2

Figure 3

References:

[1] Nise, Norman S. Control Systems Engineering, 4th Ed. John Wiley & Sons, Inc. 2004.