The transfer function from the thrust deflection angle u to the pitch angle 0 of a guided missile is found to be G(s). The configuration of the overall system is

chosen as shown in the figure. The transfer function of the actuator is G1 (s) = 1/( s + 6.1 ) and K2 = 1.Determine gain K1 for stability and the value of gain K1 ,such that the position error is less than 10%, the overshoot is less than 15%, and the settling time is less than 10 seconds.