a) (i) Sketch the root locus when the controller is a gain, so that Gc(s) = K. (Hints: Break-in point is given as [url removed, login to view]) (ii) With the aid of root locus, determine the value of K when ζ for the roots with ωn > 2 is large than 0.15. (iii) Use SCILAB to verify your answer in part (i) and (ii). (iv) Use SCILAB to plot the response q(t) for a step input r(t) with K from a(ii)
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