(Solved): please I need a complete answer. In the following figure two robots are shown cooperating with each ...

In the following figure two robots are shown cooperating with each other to manipulate a long shaft to insert it into a hole in the block resting on the table. The unity feedback control system of one robot joint has the process transfer function $G(s)=\frac{20}{s(s+2)}$ The specifications require a steady-state error for a unit ramp input of 0.02 and the step response has an overshoot of $\le 15\%$ with a settling time of $\le 1\mathrm{s}$, with a $2\%$ criterion. Design a state-feedback control that will meet the specifications. Plot the compensated responses for the step and ramp inputs.