4. A robot tennis player is shown in Figure 4(a), and a simplified control system for 02(t) is shown in Figure 4(b). The goal of the control system is to attain the best step response while attaining a high Kv for the system. Select Kv1 = 0.4 and Kv2 = 0.75, and determine the phase margin, gain margin, bandwidth, percent overshoot, and settling time for each case.