Consider the 9 scope shots labeled “Waveform 1 through Waveform 9”. Waveform 1 shows the open loop step response of the L-C circuit model, i.e., how the output (green) looks in response to a step change in input (red) with no feedback (Kp, Kd and Ki all zero). All waveforms use the exact same code except for a change in one of the 4 control gains (Kp, Kd, Ki and FF). The PID control is implemented in the file main.c. In all case, consider only the rising edge and settled value as circled. Due to circuit limitations, the falling edge response cannot be controlled properly since the input cannot go negative. --- What was changed to the control system to create waveform 2 from waveform 1? (Concentrate on the circled areas) the feedforward term was increased ---Consider just the initial rising step and settled value. Compared to waveform 2, waveform 3 has: kd set to -1000 --- What control variable changed goi...