Determine an internal model controller Gc(s) for the system. We want the steady-state error to a step

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Determine an internal model controller Gc(s) for the system. We want the steady-state error to a step input to be zero. We also want the settling time (with a 2% criterion) to be less than 5 seconds.
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Modern Control Systems

ISBN: 978-0136024583

12th edition

Authors: Richard C. Dorf, Robert H. Bishop

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