A unity feedback system has open loop transfer function [ G(s)=frac{K}{(s+3)(s+6)} ] and operates with peak overshoot

Question:

A unity feedback system has open loop transfer function

\[
G(s)=\frac{K}{(s+3)(s+6)}
\]

and operates with peak overshoot of $4.32 \%$. Design a PI compensator via root locus such that the system is forced to track the step input with zero error in steady state.

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