H=Kp+Ki*1/s+Kd*s
G=(K*omega_n^2)/(s^2+2gomega_n*s+omega_n^2)

S=1/(1+GH)
T=GH/(1+GH)

|S(jw)|^2=|W1(jw)|^2

|T(jw)|^2=|W2(jw)|^2

W1 and W2 are the weights of the system

FIND..?
omega_s ..?
omega_t ..?
Omega = logspace (..)..?
[mag,phase] = bode(omega_s,omegas);
[mag,phase] = bode(omega_t,omegas);