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
(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.
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