5) Given the servo system with speed output being controlled by a PI controller, Pl controller Servo plant Command e(t) c(t) = w(t) speed Kp Vm 3100 www r(t) (+ (+) S+36 K₁/s a) Write the expression of the closed loop transfer function b) Find Kp and Ki to yield critically damped (31) closed-loop system with a settle time, Ts=.2 sec.