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16.10. (a) For the system shown in Fig. P16-10 determine the value of Kc that will give 30 of phase margin. (b) If a PI

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16.10. (a) For the system shown in Fig. P16-10 determine the value of Kc that will give 30 of phase margin. (b) If a PI controller with I=2 is used in place of the proportional controller, determine the value of Kc for 30 of phase margin. FIGURE P16-10

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