Determine PI controller parameters for the following FOPDT model by using the online tuning method of Ziegler and Nichols (1942).
G(s) = (0.9*e^-2s)/(5*s+1) {m/(l/min)}
H(s) = 0.2 {%TO/m}
Gv(s) = 0.5 {(l/min)/%CO}
where G(s), H(s), and Gv(s) are the transfer functions of the process, sensor/transmitter, and valve, respectively. The time unit is minutes.