Q-3 Problem Statement: A Proportional-Derivative (PD) controller is a type of controller that reacts proportionally to the error and rate of change of error. A PD controller is added to the transfer function R(s) 18 Y(s) s+3s+9 Find the values of K and K so that the steady-state error is 0.1 and the percent overshoot is 10% (for a step input). Note: The closed loop transfer function is (K+Ks) G(s) 18(K+Ks) 1+ (K+K) G(s)s + (3+18. Kd) s + (9+18.K) the steady state error is 1 ess=1-lim s- 0-s 18 (K+Ks) s s + (3+18. Ka) s+ (9+18.K) 2K, e-1- 1+2 Kp