Question: Consider the closed-loop system in Figure P5.21. Determine values of the parameters k and a so that the following specifications are satisfied: (a) The steady-state

Consider the closed-loop system in Figure P5.21. Determine values of the parameters k and a so that the following specifications are satisfied:
(a) The steady-state error to a unit step input is zero,
(b) The closed-loop system has a percent overshoot of less than 5%.

1 RiS) s+ a FIGURE P5.21 Closed-loop system with parameters k and a.

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