What is the equation for the PID algorithm for the PID block of the FP-3000?

[Greg Caesar]

PID algorithms and their associated tuning constants can take various different mathematical forms. What is the specific equation for the FP-3000's PID block?

[jws]

This is the extent of my information:

Transfer Function for the PID block.
Where:

Kp = Proportional gain, or Gain
Ti = Integral time constant in seconds, also Reset in seconds per repeat
Td = Derivative time constant in seconds, also Rate in seconds
Tf = Derivative limiting filter time constant, also Tfilter. It is automatically set at 1/10 th of Td .

E = process error, or PV � SP

OUT is the controller output

OUT =(Kp e (Ti s + 1)(Td s + 1))/
(( Ti s)(Tf s + 1))