Consider the system of Figure 12.1 with where K = 1 under normal conditions. Design a PID
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where K = 1 under normal conditions. Design a PID controller to achieve a phase margin of 50°. The controller is
with complex zeros. Determine the effect of a change of ± 25% in K1 by developing a tabular record of the phase margin as K1 varies.
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K(s2 20s b)
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