E10.2 A control system with negative unity feedback has a process

400 G(s)= s(s+40) and we select a proportional plus integral compensa- tion, where G(s) = Kp +1 Note that the steady-state error of this system for a ramp input is zero. (a) Set K = 1 and find a suit- able value of Kp so the step response will have a percent overshoot of P.O. 20%. (b) What is the expected settling time (with a 2% criterion) of the compensated system?