Question 4 Figure Q4 shows a mechatronic control system, which requires high accuracy for position and velocity response. If the mechatronic system has a transfer function of: 1 GGpp(SS)=(2s+6)(s+5) and a PID controller is used in the system. A(S) + PID controller Gc(S) Mechatronic system 00(S) Gp(S) Figure Q4 A Mechatronic Control System The design criteria for this system are: Settling time < 0.8 sec Overshoot < 5% Steady state error = 0.5 (for a unit parabolic input = 1/s²) (a) (b) Design a PID controller to determine the parameters Kp, Ki, and Ka and clearly identify the design procedure. Explain the effects on a control system of including Proportional controller (P), Proportional + Integral (PI) controller, Proportional + Derivative (PD) controller, and PID controller.