Consider the following first-order process: 8,(s)=2 3s+1 If the desired closed-loop response to a setpoint change is second order with the following form, 8CL(s)=- as +1 (As+1) find the feedback controller required, where a and are adjustable tuning parameters (they are both positive). What type of controller is this? If the controller is PID form (perhaps with a lag), find each of the tuning parameters (K, T, TD, TF). Show that > 0.5a is required for the controller to be stable. Question-8 Show that the direct synthesis procedure for the following process, assuming a desired first-order response, yields a PID controller 15 8p(s)+4.9s+0.9 Find the PID tuning parameters if a closed-loop time constant of 5 minutes is desired.