PARTS 3 AND 4 PLEASE

Problem 3 Given the following ODE + 4y + - 6y = 1 + 2u 2 3. Now design a PIPID controller for the system with BW 5 rad/s. Decide on whether you need a PID or if a PI will suffice, based on phase requirements from the zeros in the controller. If a PID is required then use tau = 1/100 (time constant for the pseudo pole). Show all work. 4. Plot T and S and comment on your observations regarding the command following and output disturbance rejection properties of your design. You may use step responses to further clarify your