Figure P10.4 shows a closed-loop control system. a. Compute the controller gain Kp so that the undamped natural frequency of the closed-loop system is0, =4 rad/s. Compute the controller gain

Kp so that the damping ratio of the closed-loop system is 30.7.Compu c. Compute the steady-state output for a step reference input r(t)Kp = 2.4U( and controller gain