6. Assume the closed-loop system of Fig. 4 has a feedforward transfer function given by Design a lag compensator D(s) so that the dominant poles of the closed-loop system are located at s = -1 ± j and the steady-state error to a unit ramp input is less than 0.2. (15%)

(4) Now compare the latitudinal patterns of carbon storage on land in the following figure. The areas above 0 on the y axis is carbon storage above ground, and the areas below 0 on the y axis is carbon storage below ground (or soil organic carbon SOC for diflerent depths shown in the figure caption). Summarize the similarity and differences between the two (5 pt), explain what proce cesses drive the similarities and differences (5 pt). How would we predict future changes in carbon storage under the direct influence of CO2 rise and global warming (5 pt)?The latitudinal patterns of terrestrial carbon stocks, both aboveground living plant biomass (green) [data from Gibbs et al. (114)] and soil carbon stocks (brown) [data from Hengl et al. (18)].