$G_d = \frac{F_m}{\Theta} = \frac{6.521}{1.021s^2 + 2.05s + 2.132}$ \\ Using Matlab, compute the steady-state position error $e_{ssp}$, the steady-state velocity error $e_{ssv}$, the peak-time of the step response, the overshooting P.O. of the step response, and the settling time $t_s$ (under the 2\% criterion) for the step response.
