A model of the feedback control system is shown for an electric ventricular assist device. This problem was introduced in AP9.11. The motor, pump, and blood sac can be modeled by a time delay with T = 1 s. The goal is to achieve a step response with less than 5% steady-state error and less than 10% overshoot. Furthermore, to prolong the batteries, the voltage is limited to 30 V [26]. Design a controller using (a) Gc(s) = K/s, (b) a PI controller, and (c) a PID controller. In each case, also design the pre-filter Gp(s). Compare the results for the three controllers by recording in a table the percent overshoot, peak time, settling time (with 2% criterion) and the maximum value of v(t).