The value of ultimate period of oscillation is 5 min/cycle. The value of K, is 3. Calculate the correct set of tuning parameters for PID controller using Ziegler-Nichols Controller settings. a) K=1.5,r,=4.16, r = 0.625 b) K=1.35,r,=4.16, r = 0.625 c) K, 1.8,r, 2.5,rp = 0.625 = d) K, 2.8,r,= 2.5, r = 0.625 = Answer A B C D