1. For the system described in the previous problem, calculate the closed-loop zeros and poles in the z-domain, and find their equivalents in the s-domain.
2. Consider the system described in P6.1. Assume that the normalized feedback gains are set according to Eq. 6.19, d = 0.21609, p = 0.0516627, i = 0.0052195. Obtain the output position response to the step change of the reference. Calculate the closed-loop poles.
