10.4 Figure Pl0.4 shows a closed-loop control system. a. Compute the controller gain Kp so that the undamped natural frequency of the closed-loop system is w, = 4 rad/s. b.

Compute the controller gain Kp so that the damping ratio of the closed-loop system is = 0.7. Compute the steady-state output for a step reference input r(t)=4u(t) and controller gain kr=2