For a rotating element with (P D) controller, the transfer function is given by Equation 10.14, repeated here, [ frac{Theta_{o}(s)}{Theta_{i}(s)}=frac{K_{p}left(1+T_{d} s ight)}{J s^{2}+K_{p} T_{d} s+K_{p}}

For a rotating element with \(P D\) controller, the transfer function is given by Equation 10.14, repeated here,

\[ \frac{\Theta_{o}(s)}{\Theta_{i}(s)}=\frac{K_{p}\left(1+T_{d} s\right)}{J s^{2}+K_{p} T_{d} s+K_{p}} \]

Explain how to select control parameters \(K_{p}\) and \(T_{d}\) that meet performance specifications, for example, the shortest settling time for a step input. What is the effect of parameter \(J\) on the response?