B$-8-15.$ Consider the two$-$degrees$-$of$-$freedom control system shown in Figure $8-82.$ Design controllers $\backslash ($ G$\_\{$c $1\}($s$)\backslash )$ and $\backslash ($ G$\_\{$c $2\}($s$)\backslash )$ such that the response to the step disturbance input shows a small amplitude and settles to zero quickly $($in $1$ to $2$ sec $)$ and the response to the step reference input exhibits $\backslash (25\backslash \%\backslash )$ a less maximum overshoot and the settling time is less than $1$ sec $.$ The steady$-$state error in following the ramp reference input or acceleration reference input should be zero.