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12.6

Consider the FOPTD model in Eq. 12-10 with X= 5, T4, and 9 = 3. Design PI and PID controllers using the IMC tuning method with T, 3. Simulate the closed-loop systems for a unit step change in set point. Does the addition of derivative action result in significant improve-ment?

Justify your answer.

Fig: 1

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