Exercise 1. Given a mass spring damper system, where G(s)=s+5s+10 can be Kp. Kd or Ki, or combination as shown in the following table. The controller Ge(s) R(s) Y(s) Ge Gp Ge(s) Proportional gain Integral gain Derivative gain Case 1 K-5 K,-50 K-100 Case 2 K=5 K-20 Case 3 K-100 K-5 K-100 K-20 Case 4 Ka-5 K-100 Ka-5 K-100 K-20 Case 5 K,-100 K=5 K-5 K,-100 K-20 K-20 1. Use MATLAB display the full transfer function Y(s) R(s) for each of the cases. Find the zeros and poles for each of the cases and discuss the changes. 2. Plot the step response of each case in one graph, be carefully in labeling properly each of the plots. 3. Analyze and explain the effect of controllers in each case with respect to Tr, Ts, %OS and c... Create tables showing the values for each case.