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代码说明：

说明：   已知某控制系统结构图如下所示,要求设计校正环节G(s),使系统对于阶跃输入的稳态误差为零。使系统校正后的相角裕量γ≥45°，幅值裕量kg≥10db。(Known structure of a control system as shown below, links to design correction G (s), allowing the system to step input for the steady-state error to zero. The system after correction phase margin γ ≥ 45 °, the amplitude margin kg ≥ 10db.)