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Problem 6.57PP For the ship-steering system in Problem, (a) Design a compensator that meets the following specifications; (i) Velocity constant Kv = 2. (ii) PM > 50“ . (iii) Unconditional stability (PM 0 for all oj T = 583.9 ̂ ' (80584S+1) .-.D(s)G(s)= (5 8 3 .9 S + 1 ) s \ ( * V l l l ' V l l L U . 3 2 5 J J [