2. For the cascade-control block diagram below, the control valve (v) and process (R) have the respective transfer functions 1 K G(s) = and G (s +1) (1+T) (with s in mind). The process R has the parameters K = 0.5 and 1 = 0.4 min. For a proportional-only controller in Go and a PI controller in Gei: (1) Specify the gain, Krz if the maximum overshoot in the slave loop response to a step-test change in the set point is to be less than 2%. [40%] Verify that the ultimate frequency for the master loop is 2.58 rad. min-- and specify Kc, and tz for this loop using the closed-loop tuning method of Ziegler and Nichols. [60%] (11 Set Point Gel GC2 G