Problem 2. 1 Consider the case where the process parameters are again as in Problem 1: K= 2,7 = 10,0 = 5, K2=1, Km = 1 Set the controller to PI mode, and tune the controller (i.e, find a values of Ke and Ti) for a servo test using: (a) The Ziegler-Nichols tuning method. (b) The Cohen-Coon tuning method. (c) The minimum ITAE criterion method. Document the values of the tuning parameters in a table in your report. 2 Modify your MATLAB M-file to carry out the simulation of three servo-response tests respectively using: (a) The Ziegler-Nichols tuning method (b) The Cohen-Coon tuning method. (c) The minimum ITAE criterion method. Create a graph consisting of 3 plots in one page, as follows: (a) The top plot should show the set point and each of the three output response tests, as a function of time. This plot should contain a legend, given that more than one signal is plotted as a function of time. (b) The middle plot should show each of the two input responses as a function of time. (c) The bottom plot should show the disturbance as a function of time. (d) The time axis in all graphs should be long enough so that the onset of steady-state can be observed. (e) You must use the MATLAB print command to generate a TIFF file for the graph