Compare PID (ITAE for set-point changes) and Dahlin controllers for t 1, = 1, and G(s) = 2e-s/(l0s + 1). For the ITAE controller,

Compare PID (ITAE for set-point changes) and Dahlin controllers for ∆t 1, λ = 1, and G(s) = 2e-s/(l0s + 1). For the ITAE controller, approximate the sampler and ZOH by a time delay equal to ∆t/2. Adjust for ringing, if necessary. Plot the closed-loop responses for a set-point change as well as the controller output for each case.