I & D values do not correspond to Eq14 in your paper

Hi, I have a question about the I & D values. Obviously they correspond to Ki and Kd respectively. But according to your paper, Kp and Ki should be set as the learning rate r (0.01), which is a bit far from the values given in your code (I=3). Besides, Kd value set as 100 is also much larger than the results computed with Eq14 in your paper. Could you provide some explanations? Thank you!