Question: Consider the FOPTD model in Eq . 1 2 - 1 0 with K = 5 , tau = 4 , and theta

Consider the FOPTD model in Eq.12-10 with K =5,
\tau =4, and \theta =3. Design PI and PID controllers using
the IMC tuning method with \tau c =\theta =3. Simulate the
closed-loop systems for a unit step change in set point. Does
the addition of derivative action result in significant improvement? Justify your answer.

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