Controller	u_n
Euler, PI	$1395 e_{n} + 277 \times \sum_{i = 0}^{n} e_{i}$
Euler, PID	$1860 e_{n} + 455 \times \sum_{i = 0}^{n} e_{i} + 1902 \times (e_{n} - e_{n - 1})$
Bilinear, PI	$u_{n - 1} + 1509 e_{n} - 1281 e_{n - 1}$
Bilinear, PID	$u_{n - 2} + 5892 e_{n} - 7154 e_{n - 1} + 2172 e_{n - 2}$