a=9 b=6 c=7 5. For the following system, design independently a PID controller and a Compensator to follow a Reference r(t)=7. The maximum error allowed in the compensator is 5%. Make sure that the input to the system from the compensator is lower than the input from the PID. Settling time is not an issue for this problem. G2(S) 47 e-0.003s s2 + as + 150 a=9 b=6 c=7 5. For the following system, design independently a PID controller and a Compensator to follow a Reference r(t)=7. The maximum error allowed in the compensator is 5%. Make sure that the input to the system from the compensator is lower than the input from the PID. Settling time is not an issue for this problem. G2(S) 47 e-0.003s s2 + as + 150