Question: Consider the PD control system shown in Figure 10.7.1. Suppose that I = 20 and C = 10. The specifications require the steady-state error due

Consider the PD control system shown in Figure 10.7.1. Suppose that I = 20 and C = 10. The specifications require the steady-state error due to a unit-step command to be zero and the steady-state error due to a unit-step disturbance to be no greater than 0.1 in magnitude. In addition, we require that ζ = 0.707.
Compute the required values of the gains, and evaluate the resulting time constant.

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