You are required to design a PID controller to keep the micro-mouse central within a corridor in the maze (i.e. micro-mouse to travel along the straight central line between the left and right wall), using its left and right sensors readings instead of using encoder readings. Present your design and discuss your test procedure. Address the bullet points below as part of your investigation. - What is the measured process variable and what is the desired setpoint (according to any assumption you made)? - What is the desired controller behaviour (e.g. rising time, settling time, overshoot, steady-state error)? Refer to the micro-mouse competition rules and use diagram(s) to assist with illustration. - Use of the proportional, integral, and derivative terms (i.e. P, PI, PD, or PID) - What technique(s) to employed for controller tuning? - How should the drive signal returned from the controller be used for centring the micro-mouse? - What physical experiments do you need to design in order to validate the proposed controller? You do not need to execute these experiments. - What factors can potentially decline the performance of the proposed controller during a physical micro-mouse competition. Pay special attention to the cases where the left and/or the right wall of a cell is non-existent. How could you improve its performance?