Q4. For the system, shown in Fig. (4-a), J=0.02, b = 0.24, and (d) is a unit step input: i When D(s) = 0, find the value of Kp such that system is under damped, while having the poles, shown in Fig. (4-b), and . Find the percentage change in the followings, with and without the external disturbance, assuming d(t) = 0.1: final value of c(t), maximum value of T(). [12+8 marks] R 1 s(Js ) NON Figure (4-a) Figure (4-b) Q4. For the system, shown in Fig. (4-a), J=0.02, b = 0.24, and (d) is a unit step input: i When D(s) = 0, find the value of Kp such that system is under damped, while having the poles, shown in Fig. (4-b), and . Find the percentage change in the followings, with and without the external disturbance, assuming d(t) = 0.1: final value of c(t), maximum value of T(). [12+8 marks] R 1 s(Js ) NON Figure (4-a) Figure (4-b)