A control system with a type 0 process Gr(s) and a PI controller is shown in Fig. 9P-18. R(s) E(s) K₁ 100 Y(s) Kp+ S Gp(s)=2+ 10s + 100 Figure 9P-18 (a) Find the value of K, so that the ramp-error constant K, is 10. (b) Find the value of Kp so that the magnitude of the imaginary parts of the complex roots of the characteristic equation of the system is 15 rad/sec. Find the roots of the characteristic equation.

An asynchronous circuit has two SR latches (not edge-triggered FF) denoted SR1 and SR2, and two external inputs x1 and x2. It also has a single output z. The excitation expressions for the inputs and output equations are (see image). Using the characteristic equation for an SR latch, draw the excitation table. Then draw the state table, flow table, and flow diagram.

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