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PLEASE FOLLOW THE INTRUCTIONS ON THE BOTTOM, includes writing MATLAB code

P5.21 Consider the closed-loop system in Figure P5.21 . Determine values of the parameters k and a so that the following specifications are satisfied: Y(s) s 2k s+ a Figure P5.21 Closed-loop system with parameters k and a. a. The steady-state error to a unit step input is zero. b The closed-loop system has a percent overshoot of P. OS 5%.

Hello. Please provide solutions to all the parts (a) & (b)

In your solutions, include as much details as possible, showing intermediate steps to get to the answer.

Keep your solutions organized and readable, thank you =)

Take your time to verify your results. *** ALSO VERIFY YOUR RESULTS USING MATLAB, AND COPY AND PASTE THE CODE HERE***

DO NOT use pictures, but rather copy and paste the code, so that I can use it. Thanks!

Please share matlab code as a --> downloadable link <-- For example, google drive. Thanks.

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