The official solutions manual for Thomas E. Marlin's Process Control: Designing Processes and Control Systems for Dynamic Performance
Gc(z) = Kp + Ki * (z / (z - 1)) + Kd * ((z - 1) / z) process control marlin solution manual pdf
Gc(z) = Kp + Ki * (z / (z - 1)) + Kd * ((z - 1) / z)