4. (25 points). The equation of motion for the rack and pinion (w/ R=1) shown below is: x +*+x=1 Design a controller to control the position of the rack using a controlled torque (1). Ensure the rack will reach the desired speed in 1 second with a rise time of 0.2 seconds with no steady state error (verify your design) R JM k 72 4. (25 points). The equation of motion for the rack and pinion (w/ R=1) shown below is: x +*+x=1 Design a controller to control the position of the rack using a controlled torque (1). Ensure the rack will reach the desired speed in 1 second with a rise time of 0.2 seconds with no steady state error (verify your design) R JM k 72