More info about the open-loop transfer function of the uncompensated system should be provided.
From one of Google search results, it shows that the Static Velocity Error Constant is defined as
where 
is the open-loop transfer function.
is the open-loop transfer function.If 
is the plant in the uncompensated system and a lag compensator 
is used to compensate the s system so that the Static Velocity Error Constant requirement is
is the plant in the uncompensated system and a lag compensator is used to compensate the s system so that the Static Velocity Error Constant requirement is
.Since the open-loop transfer function of the compensated system is given by 
, then
, then
Design Task (Part 1):
Can you determine the lag compensation gain 
in ?
in ?Design Task (Part 2):
Requires you to select the values for T and c with 
such that the phase margin is at least 30°.
such that the phase margin is at least 30°.[mag, phase, wout] = bode(sys)
