A system containing a three-term controller has the transfer function shown: K, G(s) %3D S3 + (4 + Kp)s2 + (12 + Kp)s + K, a) Draw the pole-zero diagram for the given transfer function b) Derive the...

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Extracted text: A system containing a three-term controller has the transfer function shown: K, G(s) %3D S3 + (4 + Kp)s2 + (12 + Kp)s + K, a) Draw the pole-zero diagram for the given transfer function b) Derive the Characteristic equation for the given Transfer Function c) Evaluate values of Kp, KD and Ki to give the performance defined below: • A second order dominant response • 16% maximum overshoot to a step input • 95% output settling time of 2 seconds