A dc motor has an armature resistance of 0.2Ω and an armature inductance of 5 mH. It is driven by a power converter of gain, kPWM = 100 . Design a controller for the armature current loop such that the crossover frequency is 2 kHz and the steady state error is zero. With this controller, calculate the actual armature current corresponding to a step current reference I * = 10 u(t)A .