I have been stuck on this homework problem for a while now. I am attempting to design a PID and a PI controller for the system shown in the attachment. The lecturer specifically requested that Ziegler Nichols tuning be used. The system however contains an integrator and because of this, the critical gain (proportional gain that would make it oscillate) is zero. Is there anyway of applying Zeigler Nichols tuning on a system with an integrator? I used a routh array to get the critical gain. Please advise.
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