申論題

2. Consider the feedback control systemn in Figure 2, where

(b)  Find k and a to satisfy the following requirements simultaneously:
i. The closed-loop transfer function from r to y is a stable, order rational function.
ji. The steady-state error with respect to the unit-ramp input r(t) = t, t ≥0, is less than 0.2.
iii. The percent maximum overshoot with respect to the unit-step input r(t) = 1, t≥0, is
less than 10%.