The open-loop transfer function of a control system with a negative unity feedback and a proportional-derivative (PD) controller is as follows:

Determine the parameters of the controller, so that the closed-loop system is stable and the steady-state error to a unit parabola input is 0.01 .

1) \(k_{P}>0, k_{D}=10\)
2) \(k_{P}=10, k_{D}=100\)
3) \(k_{P}=10, k_{D}>0\)
4) \(k_{P}>0, k_{D}>0\)

10(kp-kps) G(s)G(s) =