You are using proportional control (G_c =K_c) for a process with G_v = 4 / 2s + 1 and G_p 0.6 / 50s + 1 (time constants in s). You have a choice of two measurements, both of which exhibit first order dynamic behavior. G_m1 = 2 / s + 1 and G_m2 = 2 / 0.4s + 1. Can G_c be made unstable for either process?
Which measurement is preferred for the best stability and performance properties? Why?