In problem 2(b), is the Kp=1000 (the same as in #2) or Kp=500 (the same as in (d))?

Richard Murray, 10 Nov 02

Use Kp = 500. The problem is that the "default" gain changed between HW #2 (Kp = 1000, Ki = 50) and HW #3 (Kp = 500, Ki = 100). It's OK to use the higher gain if you have already worked out the solution. Just indicate on your homework which gain you used.