Question: The height h2 in Figure P12.14 can be controlled by adjusting the flow rate q1. Consider the specific plant Gp (s) = H2 (s) /

The height h2 in Figure P12.14 can be controlled by adjusting the flow rate q1. Consider the specific plant
Gp (s) = H2 (s) / Q1 (s) = 25 / 5s2 + 6s + 5
With the following series PI compensator is used to control it.
Gc (s) = 7s + 64 / s
Obtain the Bode plots for this system, and determine the phase and gain margins.
Figure P12.14

hi Ri

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