Pre-Lab Questions In this lab, we will design a PD controller in the frequency domain using Bode plots, so that the step response satis es the following speci cations: (1) the rising time is 0 : 07 s; (2) the phase margin 75 degree; (3) the percentage overshoot is 5%; (4) the settling time is 0 : 12 s. We will nd the proportional and derivative gains required for the QUBE-Servo 2 system using the following procedure: 1. Find the proportional gain k p , so that the rising time of the step response of the closed-loop system with a proportional controller is 0 : 07 s.