Question: Consider a liquid-level control system shown in Figure (a) Derive the transfer functions for the DV (q1) and MV(q2). (b) Plot the block diagram for

Consider a liquid-level control system shown in Figure (a) Derive the transfer functions for the DV (q1) and MV(q2). (b) Plot the block diagram for this liquid-level control system. (c) Prove why an offset always exists when the set-point changes. (d) Express the offset as a function of the open-loop gain (KOL) and the magnitude (M) of a step input in the set-point. (e) Prove that there is no offset if a PI controller is used. Figure Liquid-level control system

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