Section 5.1 H2 PID Controllers for the First-Order Plant Comparing the controller with c=k(++o）n gives that =20+1=+20= 0,Kc=K(X+0) If the following form is chosen: c=k（++) the parameters of the PID controller are 0入 TF- 2+0万=+2TF,TD=2 T-TF,Kc=K(X+0) 定QC0 Zhang.W.D..CRC Press.2011 Version 1.0 9/78Section 5.1 H2 PID Controllers for the First-Order Plant Comparing the controller with C = KC  1 + 1 TIs + TDs  1 TF s + 1 gives that TF = θλ 2(λ + θ) ,TI = τ + θ 2 ,TD = θτ 2TI ,KC = TI K(λ + θ) If the following form is chosen: C(s) = KC  1 + 1 TIs + TDs TF s + 1 the parameters of the PID controller are TF = θλ 2(λ + θ) ,TI = τ + θ 2 −TF ,TD = θτ 2TI −TF ,KC = TI K(λ + θ) Zhang, W.D., CRC Press, 2011 Version 1.0 9/78