Consider the control system shown when G{s) - /{s + 5)2, and select a PID controller so

Question:

Consider the control system shown when G{s) - \/{s + 5)2, and select a PID controller so that the settling time (with a 2% criterion) is less than 1.5 second for an ITAE step response. Plot y(t) for a step input r(t) with and without a prefilter. Determine and plot y(t) for a step disturbance. Discuss the effectiveness of the system.