Consider the PD control system shown in Figure 10.7.1. Suppose that I = 15 and c = 3. 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 0.2 in magnitude. In addition, we require that the time constant be τ = 0.5.
Compute the required values of the gains, and evaluate the resulting damping ratio.