1(I). What is the primary purpose of integral control? a. To dampen oscillations. b. To increase the order of your system by 1. c. To eliminate offset. d. To have faster dynamics.

(II). What is the primary purpose of derivative control? a. To dampen oscillations. b. To have faster dynamics. c. To make sure tau_n stays the same. d. To eliminate offset.

(III) Which of the following is true of integral action? a. Integral action corrects your error based on the time history of the error. b. Integral action ensures oscillations do not happen. c. Both of the above are correct. d. None of the other answers are correct.