1. The problem statement, all variables and given/known data FIGURE 5 shows a proportional plus derivative controller that has a proportional band of 20% and a derivative action time of 0.1 minutes. Construct the shape of the output waveform for the triangular input waveform shown, if the input rises and falls at the rate of 4 units per minute. 2. Relevant equations Unsure 3. The attempt at a solution I have calculated the gain by using the PB to calculate a figure of 5 for the gain. Would I be right in saying that for and input change of 1 units there would be an output change of 5 units? The integral action time is 6 seconds so after 12 seconds the output will have increased to 10 units, is this right? Am no sure how to sketch this as a waveform? Any help would be greatly appreciated.