?This is the problem I need help with:

These are the previous problems, already answered:

A detailed solution to everything highlighted in yellow, including all work and MATLAB commands and plots, would be appreciated. Thanks.

c) Design a controller (select values of K and z) such that the following specifications are met: Target crossover frequency - 1 rad/s (approximately equal to the closed-loop bandwidth). Target phase margin is 60. 1) Show all your work and demonstrate your design meets these specifications by the use of "almarsin" command on the open-loop transfer function L(s) P(s)Cs). (hint: "help alwarein in Matlab). Include MATLAB code and results. 2) Plot the closed-loop frequency and step responses from the reference input r to the output y. Show the achieved bandwidth by marking on the Bode plot with a "data cursor". Comment on hovw different, if so, it is from the specified bandwidth. Include MATLAB code and plots. (Read mathworks.com/help/matlab/creati data r-dis ta-val interactively html on how to use the data cursor.) 3) Plot the closed-loop frequency and step responses from the disturbance d to the output y. Does the steady state error e become 0 when a step disturbance d is applied to this closed loop transfer function? Include MATLAB code and plots. 3. Now design a proportional-only controller (ie., Cs) K) to have the same closed loop crossover frequency (bandwidth) 1 rad/s. Show your work. You can ignore the phase margin requirement, since it cannot be modified without a zero in the controller. Repeat problem 2 c) part 2) and 3). Is an integrator needed in the controller? Explain your observation. NOTE: in order to form a closed loop transfer function you need to utilize the "feedback" command. Assuming you have created transfer function objects for both the plant and controller, i.e., P and C, the closed-loop transfer function from r to y, Try, will be computed as >t-feedback(P*C,1) Subsequently the bode plot and step response for Tr can be found with bode(Tu) steplt In order to compute the transfer function from the disturbance d to the output y, use > feedback(P, C) c) Design a controller (select values of K and z) such that the following specifications are met: Target crossover frequency - 1 rad/s (approximately equal to the closed-loop bandwidth). Target phase margin is 60. 1) Show all your work and demonstrate your design meets these specifications by the use of "almarsin" command on the open-loop transfer function L(s) P(s)Cs). (hint: "help alwarein in Matlab). Include MATLAB code and results. 2) Plot the closed-loop frequency and step responses from the reference input r to the output y. Show the achieved bandwidth by marking on the Bode plot with a "data cursor". Comment on hovw different, if so, it is from the specified bandwidth. Include MATLAB code and plots. (Read mathworks.com/help/matlab/creati data r-dis ta-val interactively html on how to use the data cursor.) 3) Plot the closed-loop frequency and step responses from the disturbance d to the output y. Does the steady state error e become 0 when a step disturbance d is applied to this closed loop transfer function? Include MATLAB code and plots. 3. Now design a proportional-only controller (ie., Cs) K) to have the same closed loop crossover frequency (bandwidth) 1 rad/s. Show your work. You can ignore the phase margin requirement, since it cannot be modified without a zero in the controller. Repeat problem 2 c) part 2) and 3). Is an integrator needed in the controller? Explain your observation. NOTE: in order to form a closed loop transfer function you need to utilize the "feedback" command. Assuming you have created transfer function objects for both the plant and controller, i.e., P and C, the closed-loop transfer function from r to y, Try, will be computed as >t-feedback(P*C,1) Subsequently the bode plot and step response for Tr can be found with bode(Tu) steplt In order to compute the transfer function from the disturbance d to the output y, use > feedback(P, C)