Question: 2. Given the following model for a process: Y(s)= M(S)+eD(S) $+2 where Y: ouput; M: manipulated input; D: unmeasured disturbance. You may use valves and

2. Given the following model for a process: Y(s)= M(S)+eD(S) $+2

2. Given the following model for a process: Y(s)= M(S)+eD(S) $+2 where Y: ouput; M: manipulated input; D: unmeasured disturbance. You may use valves and sensors that have unit transfer functions. a. Assuming that the model is perfect, design an IMC controller. Show the closed-loop block diagram. Label all the blocks and connections with the right variables. b. Let D be a unit step increase. Compute and plot y(t) for two different values the tuning constant in your IMC controller. a

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