Future astronauts may drive on the Moon in a pressurized vehicle that would have a range of 620 miles and could be used for missions of up to six months. Boeing Company engineers first analyzed the Apollo-era Lunar Roving Vehicle, and then designed the new vehicle, incorporating improvements in radiation and thermal protection, shock and vibration control, and lubrication and sealants. The steering control of the moon buggy is shown. The objective of the control design is to achieve a step response to a steering command with zero steady-state error, an overshoot less than 20%, and a peak time less than 0.3 second with a \u(t) | s 50. It is also necessary to determine the effect of a step disturbance Td(s) = 1/s when R(s) = 0, in order to ensure the reduction of moon surface effects. Using (a) a PI controller and (b) a PID controller, design an acceptable controller. Record the results for each design in a table. Compare the performance of each design. Use a prefilter Gp(s) if necessary.