04: Consider the given control system below: Ris) Cs) (s + 2)(8+6) PD By using the Algebraic Approach: a) Design a PD controller" in the feedback path of the minor (inner) loop, to yield a settling time of 0.6 sec with 10% overshoot for the step response. b) Design the "I-controller" to assign the closed loop poles to (-2.62 18.86) for a step input. c) Write MATLAB code to define the closed loop systems given above. )