Example 6.14   satellite attitude control system  p.120

para1 = {kp ->  10, jj ->  100, r0 -> 30  °, 
        d0 ->  2}

para2 = {gr -> kp + kd s + ki/s, gp -> 1/(jj s^2), 
        rs -> r0/s, ds -> d0/s}

θs = 
      Simplify[go/(1 + go) rs + gp/(1 + go) ds /. 
              go ->  gr gp /. para2 /. para1]

θt1 = 
      InverseLaplaceTransform[θs/Degree /. {kd ->  0, 
              ki ->  0} /. para1, s, t]

θt2 = 
      InverseLaplaceTransform[θs/Degree /. {kd ->  10, 
              ki ->  0} /. para1, s, t]

θt3 = 
      InverseLaplaceTransform[θs/Degree /. {kd -> 10, 
              ki ->  0.5} /. para1, s, t]

Plot[{θt1, θt2, θt3}, {t, 0, 175}, 
      PlotRange ->  {0, 90}, 
      PlotStyle ->  {Hue[0.9], Hue[0.7], Hue[0.5]}, 
      GridLines ->  Automatic]