G=1/s+1 Mp>= 16% Ts>=2s Pd= -2+2i

s + 2.66
C = -------- k=3
s
G=1/s^2+4s+2
C=

s^2 + 2 s + 3.25
---------------- k= 4.16 Mp=13.2% ts=5
S

C=

s^2 + 3.16 s + 5.736

-------------------- k= 9.54
S

PI
PID