A process with the transfer function Gp=1 is to be controlled by a PD controller. G = K(1+Ts). 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 E (Hint: compare the characteristic equation with the standard second order,ts+2t&s+1, system to get t and E). Determine the value of } for (a) Tp = 0 and K = 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. P Km Ge G H Gp 000 Ym Gm