u=kplD-x)X=t kpK-12mh1X=X=Ms +bbX=(Ms +b③DMst b t koQuestion 3 Consider the following differential equation (3).where r is the output,d's d'x(ii)An engineer proposes to design the following control algorithm(4).where D is the setpoint,and Kp,K,and Ky are control gains:U-KL(D-X)-Kyx-KxDraw a block diagram of the control system stated above,as applied to the TransferFunction model you determined for part (i of this question.[12 marks]Question 4as a case study carefully explain what all four of these objectives mean in the contert ofTFQuestion 4 Control objectives considered in this module relate to stability.tracking.carefully explain what each of these objectives (i.e.all four objectives above)mean in theIllustrative answer:The measured ventilation rate should follow (track)the desired ventilationrate at steady state.For example,if the operator specifies 10 m"3/hour,themeasured ventilation rate should approach 10 m"3/hour and not some othervalue!Formally.the output should "asymptotically"approach the desiredcutput (set point).The control system should 'reject'disturbances.For example.externalweather conditions(such as wind causing pressure differences across the fan)will cause the ventilation rate to increase or decrease-the controller shouldadjust the applied voltage to bring the ventilation rate back to the desiredlevel.Transient behaviour refers to the dynamic response,i.e."before"steady stateis reached.For example.it would be problematic (i.e.pcor controlthe ventilation rate oscillated up to 15 m"3/hour and back down to5 m"3/hour before gradually settling at the required set point.The control system should be stable.i.e.the ventilation rate should notapproach infinity.rather it should settle to a canstant finite value (say 10system is perturbed and starts to oscillate.for stability.these ascillationsshould decay to zero