The characteristic equation of the liquid-level control system of Example XXXXXXXXXXis In that example, the gain values were selected to give the characteristic roots s = −0.5 ± 0.5 j and s = −5. The...

The characteristic equation of the liquid-level control system of Example 10.8.5 is

In that example, the gain values were selected to give the characteristic roots s = −0.5 ± 0.5 j and s = −5. The gain values are K₁
= 21/4, K₂
= 22, and KI = 20. Investigate the effects on the roots and on the steady-state ramp-command error of changing the value of K_I.