For the control system shown in Figure 10.6.2, I = 20, and suppose that only I action

Question:

For the control system shown in Figure 10.6.2, I = 20, and suppose that only I action is used, so that Kp = 0. The performance specifications require the steady-state errors due to step command and disturbance inputs to be zero. Find the required gain value KI so that ζ = 1. Evaluate the resulting time constant. Do this for each of the following values of c:
a. c = 10
b. c = 0.2