Design a pi or pd controller for the system c(a) (s i l)(s 1 10) s+1(s 10) to meet the following specifications zero steady state error for unit step reference input .tr< 0.31 s %os < 20%. a deueminc hw freey gain, crfnyndha margin mecesany to met the specifications (b) decide if c(s) needs an integrator. plot the bode plot of either g(s) or g(s)/s, depending on your choice (c) use sisotool (or iteration) to choose a gain and place a zero to meet the specifications (d) write the transfer function of the resulting controller where c(s) includes the integrator, if used. state whether this is a pi or pd controller (e) plot the bode plot of the loop gain c(s)g(s), the bode plot of the closed loop transfer function, and the closed loop step response.