Solution: 7.9.3.1 For the system of Figure 1 wehave R + C G c G p Σ - Figure 1: Cascade Compensation with UnityFeedback G p = 10 s(s +1) ;; and G c = 13:8(s+3:26) s +30 : The following MATLAB dialogue generates the step response in Figure 2. EDU>g = zpk([-3.26],[0 -1 -30],138) Zero/pole/gain: 138 (s+3.26) -------------- s(s+1) (s+30) EDU>h = 1 h= 1 EDU>tc = feedback(g,h) Zero/pole/gain: 138 (s+3.26) ---------------------- (s+25) (s^2 + 6s + 18) EDU>step(tc,2) EDU>print -deps lead0step.eps EDU> 1 Time (sec.) Amplitude Step Response 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 0 0.2 0.4 0.6 0.8 1 1.2 1.4 Figure 2: Step Response for G c = 13:8(s+3:26) s+30 2