Consider the PD control system shown in Figure 10.7.1. Suppose that I = 20 and c = 10. The specifications require the steady-state error due to a unit-step command to be zero and the steady-state error due to a unit-step disturbance to be no greater than 0.1 in magnitude. In addition, we require that the time constant be τ = 0.1.
Compute the required values of the gains, and evaluate the resulting damping ratio.