second order system using optimization approach with three different objective functions

$($as listed below$).$ The code should take the set$-$point and transfer function of second order

system as inputs and should return the PID parameters as output.

Integral of squared error, ${\displaystyle \underset{0}{\overset{t}{}}}(y_{sp}-y(t)).$

Integral of absolute error, $\{$:${\displaystyle \underset{0}{\overset{t}{}}}|y_{sp}-y(t))|dt$

Integral of time weighted absolute error, $\{$:${\displaystyle \underset{0}{\overset{t}{}}}t|y_{sp}-y(t))|dt$