The performance of P- and PD-Controller to control the 2nd order system are already analyzed on the figures above. Now, conduct further analysis for PI-Controller. Explain about its ability to reduce steady-state error in the presence of step input and ramp input. Control of 2nd Order System with P-Controller R(s) 1 Y(s) kp d, s(Ms+B) Control of 2nd Order System with PD-Controller R(s) k,+k Y(s) 1 s(Ms +B)