Question: A process has the following relationship between the input and output: 8,(s) = -106-38 +1)-s+1)e ** (12s + 1)(38 +1) Design an IMC controller for

A process has the following relationship between the input and output:

A process has the following relationship between the input and output: 8,(s) = -106-38 +1)-s+1)e ** (12s + 1)(38 +1) Design an IMC controller for this process. Let q(s) be semiproper (order of denominator is equal to the order of numerator) and use an all-pass factorization. Find the closed- loop transfer function assuming a perfect model. Sketch the closed-loop response to a step setpoint change

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