The desirable pole locations for the following closed-loop control system with a PD controller in the feedback loop are: 512=-80, † jo, V1-E2. 1) Determine the PD controller parameters Kp and Kd in terms of plant parameters K, a, and b and the parameters of the desired pole locations & and on. Give the expressions of tr, ts,+2% and tp in terms of Kp, Kd, a and b. (12 points) R(S) K $+ as + b Y(S) K, +KS
