The transfer function of a PID controller is found by taking the Laplace transform of Equation (1). = derivative gain. C = s^2 + s + 1 ----------- s Continuous-time transfer function. C = 1 Kp + Ki * --- + Kd * s s with Kp = 1, Ki = 1, Kd = 1 Continuous-time PID controller in parallel form.
