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Tune PI Parameters

Question: Given are the facts that Gc and Gp(s) are in series and Gp(s) = (K * Km) / [s[(Ls+R)(Js+b) + K^2m)]].

- K=5; Km=0.5; L=0.001; R=1; J=0.003; b=0.1

Using the trail and error method, tune the PI parameters so they meet these requirements: Steady state error = 0, Settling time <= 0.5s, and Overshot <=20%.

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