Question: Given a continuous-time PID controller with Kp =3, i = 5 min, and d = 1 min. Determine the parameters of the corresponding discrete

Given a continuous-time PID controller with Kp =3, τi = 5 min, and τ d = 1 min. Determine the parameters of the corresponding discrete difference equation using the velocity algorithm. Assume sampling time = 30 secs.

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