PID  CONTROLLER LABORATORY

Hi
I am a new chap designing PID controller using matlab.I am using time domian specification i.e %tage overshoot and settling time.
I have desing the PD controller using graphical method of the root locus it gave me value of kd,
I also have worked on PI controller to calcualte Kp value.Now I want to know how i can use this two controller to detremine PID compensator to find kp,kd,ki.my open loop transfer function is 31.7/(s^3+3*s^2+1.25*s).
i am looking for study material to desing PID any help.