A machine-tool system has the form with

The sampling rate is chosen as T = I s . We desire the step response to have an overshoot of 16% or less and a settling time (with a 2% criterion) of 12 seconds or less. Also, the error to a unit ramp input, r(t) = r, must be less than or equal to 1. Design a D(z) to achieve these specifications.

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