With the PI gains set to KP = 6 and KI = 50 for the plant

Chapter , Problem 11.59

(choose chapter or problem)

With the PI gains set to \(K_P=6\) and \(K_I=50\) for the plant

                                                     \(G_p(s)=\frac{1}{s+4}\)

the time constant is \(\tau=0.2\) and the damping ratio is \(\zeta=0.707\).

a. Suppose the actuator saturation limits are \(\pm 5\). Construct a Simulink model to simulate this system with a unit-step command. Use it to plot the output response, the error signal, the actuator output, and the outputs of the proportional term and the integral term versus time.

b. Construct a Simulink model of an anti-windup system for this application. Use it to select an appropriate value for \(K_A\) and to plot the output response and the actuator output versus time.