= A process with the transfer function Gp = is to be controlled by a PD controller. Gc = Kc(1+Tos). The measurement element Gm(s) is 1. The control valve (G,) and Km are both 1. Derive the closed loop transfer function and based on the characteristic equation derive = expressions for t and (Hint: compare the characteristic equation with the standard second order,72s2+27&s+1, system to get t and ). Determine the value of { for (a) tp = 0 and Kc = 4.167 (b) tp = 0.05 and Kc = 22. In which case (a) or (b), do you expect more oscillatory response. Compare the offset in the two cases. Ysp Y E P U Km G G Ym Gm