25 R KC - 1.167*104 es Y 35+1 a) Using a frequency-response diagram and the Ziegler-Nichols rules, determine the settings of the proportional controller for above block diagram (Kc=0.5*Ku). b) Using the controller settings of part a, calculate the offset when the set point is changed by 2 unit w AR AR2 A Roverall overall 0.01 0.1 01 (-1.718+180) (-16.699+180) (-71.565+180) (...+180) (-86.186+180) (-88.091+180) 2 -0.5729 -5.7296 -57.2957 1.0 -1810-180 4.8 5 -286.4785 -572.957 10 10-2 amplitude 10-4 10-2 10-1 100 101 frequency(rad/time) 200 0 phase(deg) -200 --400 10-2 101 10-1 10 frequency (rad/time) 25 R KC - 1.167*104 es Y 35+1 a) Using a frequency-response diagram and the Ziegler-Nichols rules, determine the settings of the proportional controller for above block diagram (Kc=0.5*Ku). b) Using the controller settings of part a, calculate the offset when the set point is changed by 2 unit w AR AR2 A Roverall overall 0.01 0.1 01 (-1.718+180) (-16.699+180) (-71.565+180) (...+180) (-86.186+180) (-88.091+180) 2 -0.5729 -5.7296 -57.2957 1.0 -1810-180 4.8 5 -286.4785 -572.957 10 10-2 amplitude 10-4 10-2 10-1 100 101 frequency(rad/time) 200 0 phase(deg) -200 --400 10-2 101 10-1 10 frequency (rad/time)