6) [10) marks Consider the following two figures representing Pl and PID Controller output p'(t) (when controller action is only calculated and not implemented on the system) for the given error signal (e(t) = ysp) - Ym(t)). Such error signal will be generated when the set point is changed gradually from its initial value to final value. The error signal is denoted in red color and the controller output (deviation variable) is denoted in blue color. 1.41 1.41 p't) pe) 12 121 e(t) e(t) 1 1 0.8 08 0.6 0.6 041 0.4 02 02 ol 0.5 1 152 PI Controller 1 152 PID Controller + Calculate the value of K., for the PI controller and K.,tp for the PID controller