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Consider first a proportional controller only ??(??) = ??. Choose a suitable ?? to achieve
the required crossover frequency (design criterion 1). Explain how this value was obtained.
Is the closed-loop system stable at this gain? Show the Bode plot for this gain, and hence
give the corresponding phase margin.
Calculate the closed loop transfer function (reference ????(??) to output ??(??)), and the transfer
function from the reference ????
(??) to the error ??(??). Determine the steady state error in
response to unit step references or unit ramp references. Plot the closed-loop response to a
unit step input. Determine whether design criteria 2, 3, 4 and 5 are met or not.