Task 3 (20 Marks) A common actuator in control systems is the DC motor configured in unity feedback is shown in figure 5. To improve the performance of the motor, an amplifier in series and a tachometer in feedback with the motor, are connected as shown in figure 6. Given the motor transfer function as G(s) = 12 using a=6, determine the following requirements sista) Ris! CH) 661 Figure 5 Amplifier Ris) Motor G(s) . Tachometer Figure 6 a. If this motor were connected in a unity feedback system as shown in figure 5, calculate the percent overshoot, settling time, and peak time. b. To improve the closed-loop response, an amplifier and tachometer are inserted into the loop as shown in figure 6. Find the values of Kand to yield a percent overshoot of %M=5% and a settling time of ts=1.5 seconds c. Evaluate the steady-state error specifications for both the uncompensated and compensated systems, figure 5 and figure 6 respectively. d. Analyze the system performance of the uncompensated and compensated systems and comment on the percentage improvement