A control system has the following plant transfer function: G(s)= 1/0.4s +1

The system requirements are the following:
ess < 0.01 to a unit ramp unit
Ï•PM > 40 deg

a. If necessary, modify the plant to meet the steady-state error requirement.
b. Using the bode plot technique, design a phase-LEAD compensator to meet the system requirements.
c. Using the bode plot technique, design a phase-LAG compensator to meet the system requirements.
d. Check your answers by drawing the bode plots for the compensated system and the error function for part a) and b). You can use Matlab.