Kc rlocfind(Go, s1) Kc 19.3137 Finally, let us calculate the step response and compare it with the result achieved with velocity feedback G1(s) s2+4s+8 (6.1 and proportional derivative control G2(S)= 4(S+2) (6.15) +4s+8 2022-2-11 222022-2-11 22 Kc = rlocfind(Go,s1) Kc = 19.3137 Finally, let us calculate the step response and compare it with the result achieved with velocity feedback 4 8 8 ( ) 1 2    s s G s and proportional + derivative control 4 8 4( 2) ( ) 2 2     s s s G s (6.14) (6.15)