5) A PID controller output p(t), in time domain is given by: de (t) p(t) = 30 + 5e(t) + 1.25 e(t)dt + 15- dt The transfer function of the controller in s domain will be: (a) 5(12s? + 4s + 1) (b) 5(12s2 + 3s + 1) (c) 5(12s2 + 4s + 1) (d) 5(12s?+ 3s + 1) 3s 3s 4s 4s

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