det kd = derivative gain' Kp = 96 dem ping ratio &= 0.8 Now, Gel@) = Kp t Kds %3D C•E = 1+ kp+ Kq s) 254s+4 o;→ 25²+5+4t Kelst Kp =O s+ K(L+ Kd) + 4+kp =0 2. s+ (1+ K4) + 4+96 > s+ k(itkd) +5o=0 ķ (itkd) +50=0 : wn= J50 rad/pec and & = klt kd) - o-8 2 150 It kd 450 x 0-8 22.6274 %3D Kd = 21• 6274 %3D 介介

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