For Exercise 20.1, consider two sets of design parameters and simulate unit step changes in both the disturbance and the set point. Assume that the disturbance model is identical to the process model. The design parameters are
(a) M=7 \quad P=10 \quad R = 0
(b) M=3 \quad P=10 \quad R = 0
Which controller provides the best control? Justify your answer.