Kp = 1;
Ki = 1;
Kd = 1;

s = tf('s');
C = Kp + Ki/s + Kd*s

s = tf('s');
P = 1/(s^2 + 10*s + 20);
step(P)
hold on
Kp = 300;
C = pid(Kp)
T = feedback(C*P,1)

t = 0:0.01:2;
step(T,t)

hold on
Kp = 30;
Ki = 70;
C = pid(Kp,Ki)
T = feedback(C*P,1)

t = 0:0.01:5;
step(T,t)