Given: s (s + the position control system uses unity feedback. a lead compensator (with gain) in the discrete domain so that the resulting closed-loop system satisfies the following specifications: (i) steady-state error to unit ramp input s 0.04 (ii) phase margin 45% add an adc and a dac (zoh) and design discrete controller g(z) using frequency design methods. this discrete system has a sampling period of 0.01 sec.