Consider the P, PI, and modified I control systems discussed in Examples 10.6.2, 10.6.3, and 10.6.4. The

Question:

Consider the P, PI, and modified I control systems discussed in Examples 10.6.2, 10.6.3, and 10.6.4. The plant transfer function is 1/(Is + c), where I = 10 and c = 3. Investigate the performance of these systems for a trapezoidal command input having a slew speed of I rad/s, an acceleration time of 4 s, a slew time of 6 s, a deceleration time of 4 s, and a rest time of 5 s.