Let's begin by designing a proportional controller of the form C(s) = Kp. The SISO Design Tool we will use for design can be opened by typing sisotool(P_pitch) at the command line. This will open both the SISO Design Task window as well as the Control and Estimation Tools Manager window. The SISO Design Task window will initially open with a root locus and Bode plot for the provided plant transfer function and can be employed for graphically tuning a controller. Since we are going to apply the automated tuning function of the SISO Design Tool, you may close the SISO Design Task window.
The Control and Estimation Tools Manager window displays the architecture of the control system being designed as shown below. This default agrees with the architecture we are employing.