A Proportional-Integral-Derivative (PID) controller is shown below: U 1 C K 1+Tps+ T,S R T,S +1 a) For the closed loop, develop formulas with a unit step change for a Load Change for the period of oscillation and damping factor in terms of K, tD, tI, tI b) What is its damping factor if r, = t, = 1, t, = 2 and K = 2? c) What is the final value of C at steady state?

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