Use Skogestad's method to approximate the transfer function below as a FOPTD and determine PI controller settings as follows: a) Direct Synthesis with to = 7/3 b) The Cohen-Coon relationship (see also PID Tuning notes) c) ITAE disturbance Plot the responses for each controller to a unit step set-point-change and a unit step-change disturbance. Discuss which settings you think are optimum. G= 1.93 (3.79s + 1)(2.14s + 1) D Den GS GE FF controller Load transmitter G x Ysp Ysp X Km Gp por 40 FB controller Valve B B Gm Transmitter Figure 15.11. A block diagram of a feedforward--feedback control system. Use Skogestad's method to approximate the transfer function below as a FOPTD and determine PI controller settings as follows: a) Direct Synthesis with to = 7/3 b) The Cohen-Coon relationship (see also PID Tuning notes) c) ITAE disturbance Plot the responses for each controller to a unit step set-point-change and a unit step-change disturbance. Discuss which settings you think are optimum. G= 1.93 (3.79s + 1)(2.14s + 1) D Den GS GE FF controller Load transmitter G x Ysp Ysp X Km Gp por 40 FB controller Valve B B Gm Transmitter Figure 15.11. A block diagram of a feedforward--feedback control system