At steady-state, the output of a PID controller is 10mA. When the process is upset, the set-point signal increases at a rate of 0.4 mA/min.
If the controller gain, reset time, and derivative time are 3, 2 min, and 0.4 min, respectively, develop an expression for the controller output, p(t), and plot it as a function of t in Excel (print the plot and attach it to your answer sheet).