Please design D1(s) to make the inner loop have a good stability and then design D2(s) to make outerloop have phase margin: about 45 degree and...

Please design D1(s) to make the inner loop have a good stability and then design D2(s) to make outerloop have phase margin: about 45 degree and crossover frequency: about 5KHZ. D1(s) and D2(s) are just transfer functions.

Thank you!