1. For the following process model G(s), 1 G(s) (1) As +Bs+D (a) Design a PID controller using IMC method and a first-order IMC filter given by 1 F(S) == (2) s+1 where is the IMC filter time constant. (b) If = 0.1 and = 1 are designed, which PID controller is more aggressive? You need to provide detailed derivation of your answer. (20 Marks)