E12.4 A PID controller is used in a unity feedback sys

tem where

G(s) = 1 (s+ 10)(s +25) The gain Kp of the controller Gd(s) = Kp + Kps+ K S is limited to 500. Select a set of compensator zeros so that the pair of closed-loop roots is approximately equal to the zeros. Find the step response for the approximation T(s) KD s+ KD and the actual response, and compare them.