Prelabl: Find the transfer function of Vout/Vin in Fig. 1. Then, write the obtained transfer function in such a way that the coefficient of S^2 in denominator is 1, i.e., denominator D becomes in format of S^2+a.S+b to be able to use eq. 3.55 in page 111. Use eq. 3.55 in page 111, Fig. 3.23 in page 118 and equations in 3rd cover (last page) of book to design a PI controller with rise time (tr) of 0.8 s and overshoot (Mp) of 20%. Finally, find Kp and Ki and verify it with MATLAB. Are rise time and overshoot exactly what you want? Explain? Don't remember that C1 is 10 and C2 is 0.6 s for 4V ref signal. Kp.s+Ki Vin (Ref signal) C1 C2.s+1 Vout (Tacho) Step dc motor+driver2 dc motor+driver 0.1 Fig. 1. Block diagram of the driver and motor with a PI controller.