A physically realizable form of the ideal PD controller transfer function in Eq. 8-11 is given by P (s) E(s) = Kc(D s + 1) D s + 1 where 0.05 < < 0.2. (a) Show how to obtain this transfer function with a parallel arrangement of two much simpler functions in Fig. E8.2. (b) Find expressions for K1, K2, and 1 that can be used to obtain desired values of Kc, D, and . (c) Verify the relations