ED dt e-r-b p' 1. Pp + +A >P 0 100 bmx-bmin 100% b K s P Po The operator has programmed in the following settings for this controller: Kp = -2 K -2 min Kd = -2min Po = 50% At some time, the integral branch output pu = 50% and the percent error is a constant (unchanging) -50%. At this point in time, the controller output, p, is most nearly A. 0% B. 25% C. 50% D. 75% E. 100%