### Frequency Domain Design

Find the relationship between the phase margin (on the Inverse Nichols Chart) and the damping of the closed loop poles (Full problem description found in attached .doc file)

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Find the relationship between the phase margin (on the Inverse Nichols Chart) and the damping of the closed loop poles (Full problem description found in attached .doc file)

(Complete problem with equations found in attachment) Problem 1 A very common industrial controller is the proportional and integral (PI) controller. It has a transfer function, , kp is the proportional gain, Ti is the "reset time" For an integrating process, P(s) = 2/s, investigate the positive root locus for

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