Q2. (30 pt.). Consider the system that is shown in Figure 1. K Gc(s) = Kp + + Kos S G(S) 160 (s2 + 20s + 5)(8 + 8) Find coefficients of PID controller so that the output of closed loop system will be critically damped for reference step input. (Do not use Ziegler Nichols methods.) R(5) E(S) F(S) GS) G(s) Y(s) y(t) Figure 1