DP7.11 A pilot crane control is shown in Figure DP7.11(a). The trolley is moved by an input F t( )

in order to control x t( ) and φ( )t [13]. The model of the pilot crane control is shown in Figure DP7.11(b).

Design a controller that will achieve zero steady-state error for ramp inputs, and maximize the closed-loop

system damping when Ge(s) = K(1+ 0.25 S