The Ideal Gas Company has a process that requires an adaptive PI controller, but (he company capital budget has been frozen. Appelpolscher has been given the job to develop a homegrown, cheap adaptive controller. It has been suggested that the closed-loop response after a disturbance can be studied to determine how to adjust Kc and τI incrementally up or down, using measures such as settling time, peak error, and decay ratio. Appelpolscher has proposed the following algorithm: If decay ratio > 0.25, reduce Kc. If decay ratio <0.25, increase Kc. He is not sure how to adjust τI. Critique his rule for Kc and propose a rule for changing τI.