ay = x^2 + 2x^4, xo = 1
by = sin(x), xo = 0
4. a) Using the Routh-Hurwitz array, prove that the critical gain Kcr = 32 and er = 7 rad/s.
b) Using the Ziegler-Nichols method, design a PI and PID controller for the following system. [15 marks]
Gs = s + 2 / s + 1 * s + 3