[ G(s) = \fracK\tau s + 1 ]
[ u[n] = u[n-1] + K_p(e[n]-e[n-1]) + K_i T_s e[n] + \fracK_dT_s(e[n] - 2e[n-1] + e[n-2]) ] piduma design
[ u(t) = K_p e(t) + K_i \int e(t)dt + K_d \fracde(t)dt ] [ G(s) = \fracK\tau s + 1 ]