Design a PI controller to drive the step response error to zero for the unity feedback system shown in Figure P9.1, where Gs K s 1 2 s 10 The system operates with a damping ratio of 0.6. Compare the specifications of the uncompensated and compensated systems. [Section: 9.2]

11/17/2016 OneNote Online Week 12 Notes Thursday, November 17, 2016 8:39 AM • Heapsort ○ Definition A heap is a binary tree with k eys at its nodes (one key per node) such that: ▪ It is essentially complete, i.e., all its levels are full except possibly the last level, where only some rightmost keys may be missing ▪ The key at each node is ≥ keys at its children • Heap Properties ○ The root contains the largest key ○ The subtree rooted at any node of a heap is also a heap ○ A heap can be represented as a