(Solved): 6. A proportional-integral ("PI") controller is used to control a 1st order plant as shown below. T ...

6. A proportional-integral ("PI") controller is used to control a 1st order plant as shown below. The system has input $R(s)$, output $Y(s)$, and error $E(s)$. Find the range of values for the parameter $K$ so the system has a steady-state error $e_{ss}$ less than 0.01 for a unit ramp input $\left(R(s)=1/s^2\right)$. Assume $K>0$.