function ctrl = simc(tau_c, parm)
    K = 1/parm.G.k*parm.G.tau1/(tau_c + parm.G.theta) ;
    I = min(parm.G.tau1, 4*(tau_c+parm.G.theta)) ;
    try
        D = parm.G.tau2 ;
        ctrl = [K I D] ;
    catch
        ctrl = [K I] ;
    end
end