Lead Compensator Design Using Root-Locus Consider the unity feedback system in Figure 2. Design a lead compensator D(s) = K(s + z)I(s + p) to be added in series with the plant so that the following specifications are met: tit 0.636 s , 5 % . Hint: We choose z =1. Find K and p . R(s) D(s) G (s)=1 I (s2) Figure 2. Unity Feedback System Y(s)