The closed-loop system in Fig has the following transfer functions:

(a) Design a feedforward controller based on a steady-state analysis.

(b) Design a feedforward controller based on a dynamic analysis.

(c) Design a feedback controller based on the IMC approach of Chapter 12 and tc = 2.

(d) Simulate the closed-loop response to a unit step change in the disturbance variable using feedforward control only and (he controllers of parts (a) and (b).

(e) Repeat part (d) for the feedforward feedback control scheme of Fig and the controllers of parts (a) and (c) as well as (b) and(c).

Go(s) =F1 GAS) (s + 1)(5s + 1) G, = Gm = G = 1 Disturbance sensor/ transmitter FF contraller PEF Ya PFe G. Y. sp G. Km Control valve FB controller Gm Sensor/transmitter