16.2. (a) Plot the asymptotic Bode diagram B/E versus for the control system shown in Fig. P16-2. (b) The gain Ke is increased until the system oscillates continuously at a frequency of 3 rad/min. From this information, calculate the transportation lag parameter Td. R Ke 1 FIGURE P16-2 B 10s+1 s+1 e +1

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