The transfer function for a PID controller is (where, ti is the integral (reset) time and tD is the derivative time.): a. 1 1 K.|1+ + T; S TDS O b. Ke 1 1+ + Tp.S + TD. S T; S O c. Kc(1 + tis + tD ). S d. 1 1 + T;. S+ TDS

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