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4. The control system diagram of a 4-engine drone is shown below. The transfer function...

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4. The control system diagram of a 4-engine drone is shown below. The transfer function from moment of inertia of motors is G(s) In the given control system, the drone is asked to follow the determined trajectory with a maximum exceeding of 4.32% and 2 seconds of settlement time according to the 2% criterion. R(s) Gols) G(s) a. Can the desired transient condition conditions be achieved using a proportional controller (Gc (s) - K, K> 0)? Explain using the root location curve graph. If so, which K gain meets these desired performance criteria? b. This time, the controller controlling the system is converted into a controller (PD type) with zero in s:-a (Gc (s) = K (s+a)). Calculate the a and K values that make the above criteria come true. Show the point provided on the root curve by drawing the root location curve graph for this controller. c. Determine the type of control system given using a PD type controller. What kind of function should the input be in order for this system's steady state error to be a finite value other than 0? Calculate the steady-state error in terms of parameters for this function

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