X Question Five (a) Explain the term integral saturation and how purely integral based controllers are protected from reaching this local windup (4 marks) (b) Differentiate between functional non-linearity and combinational non-linearity (4 marks) (c) A temperature control loop has been designed for a particular process. When designing this loop, it was desired that the loop should have a decay ratio of 1/6 and no noticeable offset between the set point and measured value of the temperature. To test the loop, operators provided a disturbance to the system by instantaneously changing the flow stream that was 5 degrees higher than the set point temperature. Upon doing this the designers were pleased that their specifications were met. It was also observed that the period of oscillation was 15 minutes. Determine: (i) A second order transfer function for the process (7 marks) (ii) The maximum temperature that is observed and when it occurred