Exercise 1 A process (including valve and sensor-transmitter) has the approximate transfer function, 2e-0.28 G(s) = = +1) with time constant and time delay in minutes. Determine PI controller settings and the corresponding gain margins by two methods: (a) Direct synthesis with FOPTD desired response (Te = 0.3 min) (b) Phase margin = 40° (assume TI = 0.5 min) (c) Simulate these two control systems in SIMULINK for a unit step change in the set point. Which controller provides the better performance?