g 1. Refer to the code from the previous experiment . Now we have to modify the code to integrate the "Integral Control" operator. 2. Introduce a global variable , float Ki = 0; 3. Introduce a variable to keep track of the total accumulation of error. Each time the error is calculated, add it to the current value of the error accumulator variable. 4. Modify the line that computes the PWM control value to use the full control equation: