A specialty machine shop is improving the efficiency of its surface-grinding process [22]. The existing machine is mechanically sound, but manually operated. Automating the machine will free the operator for other tasks and thus increase overall throughput of the machine shop. The grinding machine is shown in Figure P9.26(a) with all three axes automated with motors and feedback systems. The control system for the $y$-axis is shown in Figure P9.26(b). To achieve a low steady-state error to a ramp command, we choose $K=10$. Sketch the Bode diagram of the open-loop system and obtain the Nichols chart plot. Determine the gain and phase margin of the system and the bandwidth of the closed-loop system. Estimate the $\zeta$ of the system and the predicted overshoot and settling time (with a $2 \%$ criterion)