design: kp 1.0740, Ti 112.47 ms ; ideal first-order closed loop: rise(10-90) = 2.197 tau_c = 65.9 ms, settle(2%) = 3.912 tau_c = 117.4 ms, overshoot 0
Ts     1 ms, delay 0 samples: rise   65.0 ms, overshoot   0.0 %, settle    115 ms
Ts     5 ms, delay 0 samples: rise   60.0 ms, overshoot   0.1 %, settle    105 ms
Ts    10 ms, delay 0 samples: rise   50.0 ms, overshoot   0.3 %, settle     90 ms
Ts    10 ms, delay 1 samples: rise   30.0 ms, overshoot   3.5 %, settle     90 ms
Ts    10 ms, delay 2 samples: rise   20.0 ms, overshoot  31.7 %, settle    220 ms
Ts    20 ms, delay 1 samples: rise   20.0 ms, overshoot  48.5 %, settle    320 ms
Ts    50 ms, delay 1 samples: rise    0.0 ms, overshoot 404.6 %, settle    nan ms
