6. (a) FIGURE 5 shows the input and output waveforms for a proportional plus integral controller. State: (i) the controller's proportional gain (ii) the controller's integral action time Input Output 0 10 0.1 0.2 30 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1.0 Time (minutes) Fig 5 (b) FIGURE 6 shows a proportional plus derivative controller that has a proportional band of 20% and a derivative action time of 0.1 minutes. Construct the shape of the output waveform for the triangular input waveform shown, if the input rises and falls at the rate of 4 units per minute. 1 minute Fig 6 P+D