A motor speed control system with PI control is depicted in the block diagram form below. Before the controller was added and the loop was closed, the time response was recorded for a step input of magnitude 0.3 V to the system (s+a) Km @ @d S TS +1 Figure1-13 1.5 1 0.5 0 20 40 60 80 100 120 time - [Millisecond] a. Determine the parameters T and Km from the recorded time response as shown below. To read the data shown, 2.5 ms is an acceptable accuracy for time and 0.05 V is an acceptable accuracy for voltage. b. Determine the desired closed-loop poles that achieve a damping ratio of 0.548 and a settling time of 0.0545 second. C. Using the angle criterion, determine the location of the controller zero (i.e. the value of a) to obtain the desired closed-loop poles. d. Determine the gain K to obtain the desired closed-loop poles. e. Sketch the root locus using the axes provided below. Indicate any open-loop poles and zeros, along with the closed-loop poles obtained in step b, in your sketch. Calculate the real-axis breakaway and break-in points of the root locus. voltage - [Volt] 4 3.5 3 2.5 K