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4. A parallel PID controller system with a reset time of 0.5 minute and a derivative time of 0.4 minute has a steady-state bias output

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4. A parallel PID controller system with a reset time of 0.5 minute and a derivative time of 0.4 minute has a steady-state bias output of 10 mA and an error signal e(t) = 0.5t where t is time. If the output after 1 minute is 15 mA, develop an expression for the transfer function of the controller

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