With the PI gains set to Kp = 6 and K1 = 50 for the plant
Gp (s) = 1 / s + 4
The time constant is ( = 0.2 and the damping ratio is ( = 0.707.
a. Suppose the actuator saturation limits are ( 5. Construct a Simulink model to simulate this system with a unit-step command. Use it to plot the output response, the error signal, the actuator output, and the outputs of the proportional term and the integral term versus time.
b. Construct a Simulink model of an anti-windup system for this application. Use it to select and appropriate value for KA and to plot the output response and the actuator output versus time.