Let's understand what these controllers are doing in the Laplace domain. First, fill out the cell below to find the poles of () for each triplet of coefficients using scipy.signal.ss2zpk. Don't worry if you get a warning about BadCoefficients as long as the plot shows up. We then plot these poles on the complex plane. C, D = [[1, 0]], [[0]] def find_zeros_poles(k_p, k_i, k_d): A, B = make_closed_loop_sys(k_p, k_i, k_d) B = B.reshape((-1, 1)) zpk = ... zeros, poles, _ = zpk return zeros, poles