Answer all the above questions correctly providing necessary formulae, equations, expressions, diagrams, charts, graphs, plots and tables.

1. Determine the controller settings for P, PI and PID controllers for the given process 4. CO4 using Zeigler - Nichols rules. G(s)=(s+1)(2s+1)1 (20 marks) Write short notes on: a) Smith predictor control b) Adaptive control c) Ratio control and d) Inferential control (20 marks) 5. Co5 6. Draw the root locus of the system, (s)=(s+1)(2s+1)1, controller Gc(s)=Kc, for what value of Kc, the system is stable? Indicate the range of Kc to yield (i) over damped (ii)critically damped and (iii) under damped closed loop responses. (20 MRAKS) or a) Determine the range of K for stability of the system with following characteristic equation s4+Ks3+s2+s+1=0 b) Determine the stability by Routh criterion for the system with following characteristic equation s4+3s3+5s2+4s+2=0 (10 marks)