Example 6.15  satellite impulse response   p.122

para1 = {jj ->  100, kp ->  10, td ->  1, 
        ds -> 1, ki ->  0.5, 
        kk ->  9, τ ->  3, α ->  
          0.6}

para2 = {gr1 -> kp (1 + td  s) + ki/s, 
        gr2 ->  
          kk (1 + τ s)/(1 + α τ s) + ki/s, 
        gp -> 1/(jj s^2)}

θs1 = 
      Simplify[gp/(1 + go) ds /. go ->  gr1 gp /. para2 /. 
          para1]
θs2 = 
      Simplify[gp/(1 + go) ds /. go ->  gr2 gp /. para2 /. 
          para1]

θt1 = 
      InverseLaplaceTransform[θs1/Degree, s, 
        t]
θt2 = 
      InverseLaplaceTransform[θs2/Degree, s, t]

Plot[{θt1, θt2}, {t, 0, 150}, 
      PlotStyle ->  {Hue[0.9], Hue[0.7]}]