DP8.7 Consider the system of Figure DP8.7. Consider the controller to be similar to a proportional plus derivative (PD) given by

Design the PD controller gains to achieve

(a) a velocity constant Kv ≥ 1 ,

(b) a phase margin of

P M. . ≥ 60 , and

(c) a bandwidth ωb ≥ 2.0. Plot the response of the closed-loop system to a unit step input.

Ge(s)=Kp + KDs 0.1s+1