Consider the feedback system shown in Figure DP6.8.The process transfer function is marginally stable. The controller is the proportional-derivative (PD) controller
Gc(s) = KP + KDs.
Determine if it is possible to find values of KP and KD such that the closed-loop system is stable. If so, obtain values of the controller parameters such that the steady-state tracking error E(s) = R(s) - Y(s) to a unit step input R(s) = 1/s is

and the damping of the closed-loop system is ζ = ˆš2/2.
Figure DP6.8
A marginally stable plant with a PD controller in the loop.

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