You obtain a 20mA output from a steady-state electronic PID temperature controller. The set point is equal to the nominal process temperature at the start of your measurement. At t=0, the error signal increments at a rate of 1mA/min (equivalent to a rate of 2C/min ). The current PID settings are: Kc=2()T1=4(min)TD=0.3(min) What is the correct expression for the controller output p(t) ? a. p(t)=12+(1/3)t2+t b. p(t)=12+(1/3)t2+t+0.55(t) c. p(t)=20+(1/4)t2+2t+0.6S(t) d. p(t)=20+(1/4)t2+2t