How to Automatically Tune PID Controllers

SOLVED:A PID controller is sometimes implemented as series connection of a first-order lowpass filter with the ideal PID transfer function The above is referred to as "PID with filter." (a) Derive a state-space description for the "PID with filter" controller. (b) Derive a zero-order-hold discretization of the controller equations of the previous question.

Transfer Functions in Simulink, Part 1: Creating and Using Transfer Functions