function [numopen, denopen, denclsd]=pidcomp(num,den,s1,KI)

% Hadi Saadat, 1998

discr=[
'                                                                      '
'  The function pidcomp(num, den, s1) is used for the design of a PID  '
'  controller.  num & den are row vectors of polynomial coefficients   '
'  of the uncompensated open-loop plant transfer function and s1=