C(s)=  Kp + Ki * (1/s) + Kd * s
Where kp = 0.07847, ki = 0.03587, kd = 0.04291

G(s) = 1/(s^2 + s + 1)

0.04291 s^2 + 0.07847 s + 0.03587
   F(s) =   -----------------------------------
            s^3 + 1.043 s^2 + 1.078 s + 0.03587

e(s) = w(s) - y(s)
e(s) = w(s) - { F(s) * w(s) }
e(s) = (1/s) - { F(s) * (1/s)}