Question: Consider the control system illustrated in figure P.4. It is desired to design a PID controller such that the dominant closed loop poles are located

Consider the control system illustrated in figure P.4. It is desired to design a PID controller such that the dominant closed loop poles are located at s = -1 j 3 . a) For the PID, choose a = 0.5 and determine the value of k. b) Sketch the root locus plot foe the compensated system.

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