Question: Consider a system with the structure with where 1 ¤ a ¤ 3 and 2 ¤ K ¤ 4. Use a PID controller and design

Consider a system with the structure with

where 1 ‰¤ a ‰¤ 3 and 2 ‰¤ K ‰¤ 4.
Use a PID controller and design the controller for the worst-case condition. We desire that the settling time (with a 2% criterion) be less than 0.8 second with an ITAE performance.

s) = s2 + 2as + a2,

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