Question: a) The behavior of a system changes if the controller gains Kp, KI and KD are changed. Comment on the advantages and disadvantages of using

a) The behavior of a system changes if the controller gains Kp, KI and KD are changed. Comment on the advantages and disadvantages of using these components.

b) The present system based on the model can be classified as a Type 0 system. If a Type 1 or Type 2 system is controlled using a PID controller, comment on the danger in using PID with inappropriate gains.

c) What are the disadvantages of using an increase in the proportional gain to reduce the steady state error?

d) What is the primary use of the D-part of the PID controller? Comment on the drawbacks in using this part and comment on how the limitations can be mitigated.

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