Question: 1) Consider a process described by the transfer function: -2s 5e G(s) = (s+1)(10s+1) a) Find the critical frequency, the ultimate gain, and the

1) Consider a process described by the transfer function: -2s 5e G(s) = (s+1)(10s+1) a) Find the critical frequency, the ultimate gain, and the ultimate period of this process under proportional feedback control by using Routh array. b) Develop a PI controller (determine the numerical values of the controller parameters) and determine the final steady state value of the controlled variable to a step change of magnitude 3 in the set-point. c) Develop a PD controller (determine the numerical values of the controller parameters) and determine the final steady state value of the controlled variable to a step change of magnitude 3 in the set-point. d) Design an IMC controller by deriving its equations and determine the controller parameter for a PID controller.

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