设计校正器：若系统不稳定，进行滞后-超前校正器的设计,要求校正后相角裕量γ≥40°；剪切频率ωc≥50rad/s。-Design Correction: If the system unstable to lag- the design ahead of correction, after correction request phase margin γ ≥ 40 ° shear frequency ωc ≥ 50rad/s.