Convert the following performance specifications to desired values the parameters r, r, n, n. (a) "Reference to error gain" should be less than 0.01...

1. Convert the following performance specifications to desired values the parameters r, ωr, n, ωn.

(a) "Reference to error gain" should be less than 0.01 for frequencies upto 10 rad/s.

(b) "Noise to output gain" should be less than 0.1 for frequencies above 100 rad/s.

2. In a Bode magnitude plot, identify the forbidden region for the loop gain L(jω) in order to meet these requirements. Clearly mark the values of r, ωr, n and ωn in the plot.