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The non-unity feedback control system shown in Figure E10.18 has the transfer functions

Design a compensator Gt.(s) and pre filter G_p(s) so that the closed-loop system is stable and meets the following specifications: (i) a percent overshoot to a unit step input of less than 10%, (ii) a settling time of less than 2 seconds, and (iii) zero steady-state tracking error to a unit step.

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