2. Compute the output from a PI controller at t=0, 5, 10, 15, and 20 sec assuming that the error is given in the figure below as a function of time. The controller parameters are Ke = 0.5 and Ti = 5 sec. For simplicity, assume UBias = 20%. Please use Excel for this assignment. Please show both a list of numbers and corresponding plots for e(t), et)dt , and u(t). Use 1 second intervals. Error 40 30 20 10 0 15 15 20 26 -10 -20 t (sec)