3. Consider the control system shown below. This system might represent the control of a DC motor. We want to position the shaft to angle determined by, com. The problem is to choose the parameters Kr, the tachometer feedback and Kp, the motor shaft position, so as to minimize the integral squared error between the command input and the controlled output, y. The command input is .com = 5 degrees and is shown as a step input of amplitude 5. 5 10 5 psi=5 Subtract1 10s+1 Subtract amplifier motor Kr tach psi_dot -S psi motor int Kp position