F: Given that a system crosses the $jw$ axis at $s=j10$ with a gain $K=20,$ the best gains for beginning to tune a PID controller, $G_C$

$G_c=K_p+K_i\frac{1}{s}+K_{d}s$

are:

$K_A=12,K_f=3\mathrm{.}2,K_t=1$

$K_p=12,K_i=38,K_d=1$

$K_A=20,K_f=5,K_t=16$

$K_A=12,K_f=38,K_t=13$

$K_A=12,K_f=0\mathrm{.}31,K_t=0\mathrm{.}07$