Design a controller for the transfer function 1 G(s) (s+1)(s+5) to obtain (a) zero steady-state error due to step, (b) a settling time of less than 2 s, and (c) an undamped natural frequency of 5 rad/s. Obtain the response due to a unit step, and find the percentage overshoot, the time to the first peak, and the steady-state error percentage due to a ramp input.