Consider a proportional feedback control system. As shown in Figure 10.47, the closed-loop system becomes marginally stable when the proportional gain is 0.75. Find the P, PI, and PID controller parameters using the Ziegler-Nichols ultimate sensitivity method.

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FIGURE 10.47 Problem 8. Amplitude 0.4 0.3 0.2 0.1 TO 0 -0.1 -0.2 -0.3 -0.4 0 10 Impulse response 14 20 Time (s) 30 32 40 50 50