The pole and zero locations are given b p =-2-2/tan(theta p*pi/180) 6.8284 z0 =-2-2/tan(theta z*pi/180) zO 1.1716 The compensator gain is obtained using the gain criterion With Matlab, this can be calculated directly from the gain formula P K 0 (6.13) 2022-2-11 192022-2-11 19 The pole and zero locations are given by p0 = -2-2/tan(theta_p*pi/180) p0 = -6.8284 z0 = -2-2/tan(theta_z*pi/180) z0 = -1.1716 The compensator gain is obtained using the gain criterion. With Matlab, this can be calculated directly from the gain formula:                  1 1 1 1 1 1 0 1 m j j n i o i o s z s p s z s p K (6.13)