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A two-tank system containing a heated liquid has the model shown in Figure DP9.9 (a), where T₀ is the temperature of the fluid flowing into the first tank and T₂ is the temperature of the liquid flowing out of the second tank. The block diagram model is shown in Figure DP9.9 (b). The system of the two tanks has a heater in tank 1 with a controllable heat input Q. The time constants are τ₁ = 10s and τ₂ = 50 s.

(f) Prepare a table comparing the percent overshoot, settling time, and steady-state error for the designs of parts (b) through (e).

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