A position control system for a large turntable is shown, and the block diagram of the system is shown. This system uses a large torque motor with Km = 15. The objective is to reduce the steady-state effect of a step change in the load disturbance to 5% of the magnitude of the step disturbance while maintaining a fast response to a step input command R(s), with less than 5% overshoot. Select K1 and the compensator when (a)Gc(s) = K and (b) Ge(s) = KP + KDS (a PD compensator). Plot the step response for the disturbance and the input for both compensators. Determine whether a prefilter is required to meet the overshoot requirement.