(Solved): = Given the following transfer function (s+5) G(S) 93 + 11s2 + 7s + 12 (a) (15 points) Use the bum ...

= Given the following transfer function (s+5) G(S) 93 + 11s2 + 7s + 12 (a) (15 points) Use the bump test approach to find the parameters a and 7 use for Ziegler- Nichols PID Tuning. Include plot. (b) (5 points) What are the values of kp, Ti, and Td according to Ziegler-Nichols tuning rules? (c) (15 points) Implement a PID controller using these values. Show the unit-step response for both the open loop and closed loop system. (d) (5 points) Describe how the performance changed in terms of common step response met- rics.