Example G(s)= K (S+1)(z2S+1 PI control G(S) K(,S+D) k(1+) TS TIS et v=171>7 C KK R;S(z2S+1)+1 r=√2 K Select kc to givesExample 1 2 ( ) ( 1)( 1) P K G s  s  s    PI control 1 (1 ) ( 1) ( ) I I C C C Is K s G s K s        let  I  1  1  2 1 2 ( 1) 1 C s s C KK R      1 2 KC    1 2 1 2 KC     Select KC to give 