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Ex. 830. Design a proportional controller (Kp) cascaded with the plant: (s+12)/( (s+ 3) (s+ 7)...

Ex. 830. Design a proportional controller (Kp) cascaded with the plant:
  (s+12)/( (s+ 3) (s+ 7) (s+15) ) within a unity feedback system
  so that the dominant poles result in a 36% overshoot step response.
  Find Kp, zeta, wn, wd, Ts, Tp, the error constant (Kp_error) and corresponding
  SS error.  Note: Kp_error is different from Kp in the PID-TF. ans:8

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