A system with state feedback is depicted below in Fig. P7.16. Find the values of \(K_{1}, K_{2}\) and \(\mathrm{K}_{3}\) so that the system satisfies the following performance requirements
\[
\begin{aligned}
\text { Peak overshoot } & \leq 15 \% \\
\text { Settling time } & \leq 4 \mathrm{sec} \\
\text { Velocity error constant } & \geq 1.5
\end{aligned}
\]

R(s) 0- K s + 10 K 1 s+2 - K -1 1/s Y(s)