lsys=(TransferFunctionModel[(1/(1+1.2s+3(s^2))), ]);
spResponseTFM[arch_]:=PIDTune[lsys,arch,"ReferenceOutput"]
spResponsePlot[arch_]:=Plot[Evaluate@{OutputResponse[spResponseTFM[arch],UnitStep[t-5],{t,0,50}],UnitStep[t-5]},{t,0,50},PlotRange-> All,Exclusions-> None]

spResponsePlot["P"]

spResponsePlot["PI"]

spResponsePlot["PID"]

spResponsePlot["PD"]

spResponsePlot["PFD"]

spResponsePlot["PIFD"]

plot[ctype_,ticks_]:= Show[{Plot[UnitStep[t-5],{t,0,50},Exclusions-> None,PlotStyle-> RandomChoice[ColorData[3,"ColorList"]]],Plot[Evaluate[OutputResponse[PIDTune[lsys,ctype,"ReferenceOutput"],UnitStep[t-5],{t,5,50}]],{t,0,50},PlotRange-> All,PlotStyle-> RandomChoice[ColorData[3,"ColorList"]]]},PlotRange-> All,PlotLabel-> ctype,Ticks->ticks]

Grid[Partition[plot[#,None]&/@{"P","PI","PID","PD","PFD","PIFD"},3]]