AP11.1 A DC motor control system has the form shown in Figure AP11.1 [6]. The three state variables are available for measurement; the output position is

x t 1 ( ). Select the feedback gains so that the system has a steady-state error equal to zero for a step input and a response with a percent overshoot of P O. . ≤ 4%. 

FIGURE AP11.1 Field-controlled DC motor. K X3(s)