2.1. A PID controller is used to control levels in a tank. The controller has the PID equation u(t)=Kc(t)+KcDdtd(t)+iKc0t(t)dt+b a) If the set point is 14mA and the process value is 9mA, determine the error . [2 marks] b) Determine the output signal u(t) of the controller if Kc=0.2,b=12,i=0.1 second, d=0.5 second and =5mA. [4 marks] 2.2. Consider a proportional controller whose output signal is given by the following expression u(t)=0.9+5 Determine the following parameters for this controller: a) The manual reset [ 2 marks] b) The controller gain [ 2 marks] c) The proportional band [ 2 marks] 2.3. Give the difference between a primary measurement and a secondary measurement. Provide an example for each. [5 marks] 2.4. Ixplain the term ultmate contraller gain. [4 marks]