function [gp, kp, tp, theta, type]=model(process_model)

s = tf('s');
type = 1;

switch process_model
    
    case 1
        gp = 1/(s+1)/(0.2*s+1);
        kp = 1;
        theta = 0.1;
        tp = 1.1;
        kc = 5.5;
        ti = 0.8;
        kc0 = 15;
    case 2
        gp = (-0.3*s+1)*(0.08*s+1)/(2*s+1)/(s+1)/(0.4*s+1)/(0.2*s+1)/(0.05*s+1)^3;
        kp=1;
        tp= 2.5;
        theta=1.47;
        
        
        kc = 0.85;
        ti = 2.5;
        kc0 = 1.5;
    case 3
        gp = 2*(15*s+1)/(20*s+1)/(s+1)/(0.1*s+1)^2;
        kp=1.5;
        tp= 1.05;
        theta=0.15;
        kc = 2.33;
        ti = 1.05;
        kc0 = 5;
    case 4
        gp = 1/(s+1)^4;
        kp=1;
        tp= 1.91;
        theta=2.09;
        kc = 0.3;
        ti = 1.91;
        kc0 = 1.;
    case 5
        gp = 1/(s+1)/(0.2*s+1)/(0.04*s+1)/(0.008*s+1);
        kp=1;
        tp= 1.1;
        theta=0.148;
        kc = 3.72;
        ti = 1.1;
        kc0 = 6.5;
    case 6
        gp = (0.17*s+1)^2/s/(s+1)^2/(0.028*s+1);
        kp=1;
        tp= 1;
        theta=1.69;
        type = 0;
        kc = 0.296;
        ti = 13.5;
        kc0 = 0.8;
    case 7
        kp=1;
        tp= 1.5;
        theta=3.5;
        gp = (-2*s+1)/(s+1)^3;
        kc = 0.214;
        ti = 1.5;
        kc0 = 0.4;
    case 8
        kp=1;
        tp= 1;
        theta=1.5;
        type=0;
        gp = 1/s/(s+1)^2;
        kc = 0.33;
        ti = 12;
        kc0 = 0.58;
    case 9
         kp = 1;
        theta = 1.5;
        tp = 1.5;
        gp = 1/(s+1)^2;     
        gp.outputd = 1;
        kc = 0.5;
        ti = 1.5;
        kc0 = 1;
    case 10
         kp = 1;
        theta = 2;
        tp = 21;
        gp = 1/(20*s+1)/(2*s+1);
        gp.outputd = 1;
        kc = 5.25;
        ti = 16;
        kc0 = 8;
    case 11
         kp = 1;
        theta = 5;
        tp = 7;
        gp = (-s+1)/(6*s+1)/(2*s+1)^2;
        gp.outputd = 1;
        kc = 0.7;
        ti = 7;
        kc0 = 1.4;
    case 12
         kp = 0.225;
        theta = 0.3;
        tp = 1;
        gp  = (6*s+1)*(3*s+1)/(10*s+1)/(8*s+1)/(s+1);
        gp.outputd = 0.3;
        kc = 7.40;
        ti = 1;
        kc0 = 15;
    case 13
         kp = 0.625;
        theta = 1.25;
        tp = 4.5;
        gp = (2*s+1)/(10*s+1)/(0.5*s+1);
        gp.outputd = 1;
        kc = 2.88;
        ti = 4.50;
        kc0 = 4.75;
    case 14
         kp = 1;
        theta = 1;
        tp = 1;
        type = 0;
        gp = (-s+1)/s;
        gp.outputd = 0;
        kc = 0.455;
        ti = 8.80;
        kc0 = 0.7;
    case 15
         kp = 1;
        theta = 1;
        tp = 1;
        gp = (-s+1)/(s+1);
        gp.outputd = 0;
        kc = 0.417;
        ti = 1;
        kc0 = 0.51;
    case 16
        gp = 1/(s+1);
        gp.outputd = 0.05;
        kc = 10;
        ti = 0.4;
        kc0 = 16;
    case 17
        gp = 1/(5*s+1);
        gp.outputd = 1;
        kc = 2.5;
        ti = 5;
        kc0 = 4;
    case 18
        gp = 1/(s+1);
        gp.outputd = 1;
        kc = 0.5;
        ti = 1;
        kc0 = 0.9;
    case 19
        gp = 1/(0.2*s+1);
        gp.outputd = 1;
        kc = 0.1;
        ti = 0.2;
        kc0 = 0.3;
    case 20
        gp = 1/(0.05*s+1)^2;
        gp.outputd = 1;
        kc = 0.037;
        ti = 0.075;
        kc0 = 0.3;
    case 21
        gp = tf(1);
        gp.outputd = 1;
        kc = 0.01;
        ti = kc/0.5;
        kc0 = 0.3;
    case 22
        gp = 100/(100*s+1);
        gp.outputd = 1;
        kc = 0.5;
        ti = 8;
        kc0 = 0.8;
    case 23
        gp = (10*s+1)/s/(2*s+1);
        gp.outputd = 1;
        kc = 0.1;
        ti = 2;
        kc0 = 0.26;
    case 24
        gp = 1/s;
        gp.outputd = 1;
        kc = 0.5;
        ti = 8;
        kc0 = 0.8;
    case 25
        gp = (s+6)^2/s/(s+1)^2/(s+36);
        kc = 0.417;
        ti = 9.60;
        kc0 = 0.8;
    case 26
        gp = -1.6*(-0.5*s+1)/s/(3*s+1);
        kc = -0.156;
        ti = 16;
        kc0 = -0.25;
    case 27
        gp  = 1/s^2;
        gp.outputd = 1;
        kc=1;
        ti=0.001;
        kc0 = 0;
    case 28
        gp = (-2*s+1)/(s+1)^3;
        gp.outputd = 1;
        kc = 0.214;
        ti = 1.5;
        kc0 = 0.4;
    case 29
        gp = (-s+1)/(s+1)^5;
        gp.outputd = 2;
        kc = 0.115;
        ti = 1.5;
        kc0 = 0.4;
        
        
            case 108
        gp = 1/(10*s+1);
        gp.outputd = 1;
        kc = 5;
        ti = 8;
        kc0 = 0;
    case 30
         gp = (2*s+1)/(10*s+1)/(0.5*s+1);
            gp.outputd = 1;
        
        kp = 2/10;
        tp = 0.5;
        theta = 0.2;
        
    case 31
        
        gp = 1/(0.1*s+1);
        gp.outputd=1;
        tp=0.1;
        theta=1;
        kp=1;
        
    case 32
       
        gp = 1/(1*s+1);
        gp.outputd=1;
        tp=1;
        theta=1;
        kp=1;
        
    case 33

        gp = 1/(10*s+1);
        gp.outputd=1;
        tp=10;
        theta=1;
        kp=1;
end
