Problem 2 Use a PID controller with unity feedback as shown above to satisfy the design constraints Design constraints: maximum of 5% overshoot 5000 maximum settling time of 0.5s no steady state error. a. Calculate the phase margin resulting in 5% overshoot b. Use matlab to draw the open loop frequency response, the Nyquist diagram, the root c. Use frequency design techniques to design a PI controller whose resulting closed loop d. Use frequency response techniques to design a PD controller (so now the controller is c. Use matlab to draw the open loop frequency response, the Nyquist diagram, the root locus, and the step response of the uncompensated system pole is sufficiently fast such that it does not slow the overall response a PID controller) that will satisfy the design constraints locus, and the step response of the compensated system and uncompensated system