Source google image: https://www.researchgate.net/profile/Djaffar_Ould_Abdeslam/publication/30511981/figure/fig13/AS:654410128564256@1533034941695/Schema-dautodetermination-des-parametres-dun-PID.png
Schema electrique mrs
Source google image: https://www.researchgate.net/profile/Djaffar_Ould_Abdeslam/publication/30511981/figure/fig13/AS:654410128564256@1533034941695/Schema-dautodetermination-des-parametres-dun-PID.png