A mechanical system has an open-loop transfer function below: GG(ss) = 1 ss2 + 2ss + 20 a) Design a PD compensator to obtain a settling time less than 1s, and overshoot less than 5%. b) Find the closed loop zero and poles of the system for 2 cases; •Without the PD compensator present •With the designed PD compensator in cascade (c) What is the effect of adding the PD controller in terms of the number of zero and poles and their location?