A manufacturer uses an adhesive to form a seam along the end of the material (see pic 1). It is critical that the adhesive is applied evenly to avoid defects in the product. The problem is that the rate at which material passes is not constant and requires the adhesive to be dispensed in a way that is proportional to the speed variation ratio of the material. The controller must adjust the valve that dispenses the adhesive. The system is represented with the blocks diagram shown in pic 2, where: 2e -0.06 s Gp(s) T = 0.030 secs. 0.03s +1 1- e-ST Gzoh(s) S Pic. 1 G(z) R(z) | C(z) Gc(z) +Gzo (3) > G, (3 1 LE Pic. 2 Use a PID controller and find an adequate value for the controller parameters Ko, K, Ku such that controller PID have a good response when step inputs are applied. Use a bilinear transformation to discretize the continuous PID equation. M(S) K Gc(s) = E(S) = K, + 5+ Kas