For the control system with G(s) = /(s + 4)2, select a PID controller to achieve a

Question:

For the control system with G(s) = \/(s + 4)2, select a PID controller to achieve a settling time (with a 2% criterion) of less than 1.0 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.