Question: P5.21 Consider the closed-loop system in Figure P5.21. Determine values of the parameters k and a so that the following specifications are satisfied: (a) The

P5.21 Consider the closed-loop system in Figure P5.21.

Determine values of the parameters k and a so that the following specifications are satisfied:

(a) The steady-state error to a unit step input is zero.

(b) The closed-loop system has a percent overshoot of P O. . ≤ 5%.

R(s) 1 s+2k 1 s+a FIGURE P5.21 parameters k and a. Closed-loop

R(s) 1 s+2k 1 s+a FIGURE P5.21 parameters k and a. Closed-loop system with Y(s)

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