Consider the control system shown in Figure 4-68. Design a suitable digital controller that includes an integral control action. The design specifications are that the damping ratio of the dominant closed-loop poles be 0.5 and that there be at least eight samples per cycle of damped sinusoidal oscillation. The sampling period is assumed to be 0.2 r(r) A(z) T Go(z) G(s) 10 (s + 1)(s + 5) Figure 4-68 Digital control system for Problem B-4-10. c{t) C () sec, or T = 0.2. After the digital controller is designed, determine the static velocity error constant K,.