lsys=(TransferFunctionModel[(1.0/(((s+1))^3)), ]);
dResponseTFM[trule_]:=PIDTune[lsys,{Automatic,trule},"DisturbanceOutput"]
dResponsePlot[trule_]:=Plot[Evaluate@{OutputResponse[dResponseTFM[trule],UnitStep[t-5],{t,0,50}],UnitStep[t-5]},{t,0,50},PlotRange-> All,Exclusions-> None]

dResponsePlot["ZieglerNichols"]

dResponsePlot["KappaTau"]

dResponsePlot["AMIGO"]

dResponsePlot["ChienHronesReswick"]

dResponsePlot["CohenCoon"]

dResponsePlot["LambdaTuning"]

dResponsePlot["SkogestadIMC"]

dResponsePlot["TyreusLuyben"]

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

plots=plot[#,True]&/@{"AMIGO","ChienHronesReswick","CohenCoon","LambdaTuning","SkogestadIMC","TyreusLuyben"};

Grid[Partition[plot[#,None]&/@{"ZieglerNichols","ChienHronesReswick","CohenCoon","LambdaTuning","SkogestadIMC","TyreusLuyben"},3]]