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G₂ (s) = G₂ (s) = (+), mate G₂(3) = D Page 2 of 4 R() K(A) G₂(x) G₂(a) G₂(0) Controller Control valve UGG Pant Gas Analy Figure 3: Controller Implementation scheme 2. Open loop analysis: For the open loop system: G(3) = 6,₂(¹)G₂(1), (2) do the following: a. Determine the poles anders of G(s) (5 markக) b. Based on the unit step response determine the nature of the transient response (5 marks) (5 marks) e. Calculate the open loop steady state error for the unit step input 3. Closed loop system with K(s)-K, R: Consider the closed loop system shown in Erree! Reference source not found.. If the controller gain is constant, then: a Compute the value of K, which yields steady state error: (00)= • kJ/mol for R(3) = 3, when D(s) - 0 (10 marks) b. Compute the following closed loop transfer functions (5+5+5 marka) i where Us() in the flow rate (m/s) of the inlet gas supplied to the al UCG plant by the valve and R(s) is the reference/desired heating value (kJ/mol) i ata), where U (3) in the output voltage (V) of the controller to determine the percentage opening of the valve where D() is the input disturbance (ml/s) e Compute the steady state error due to D() when R(s) - 0 (5 marks) d. Determine the %05.7, and T of the closed loop response for R(s) - Regi/s and D(x)=0 (5 marks) D[] (4) 0.02x+0.02 x²+0.2x+081 C(₂) Coll