n =

    10

>> Gc=tf([tauD*tauI tauI 1],[tauI 0])
 
Transfer function:
2 s^2 + 0.25 s + 1
------------------
      0.25 s
 
>> tauD=8/n

tauD =

    0.8000

>> tauI=n/4

tauI =

    2.5000

>> Gc=tf([tauD*tauI tauI 1],[tauI 0])
 
Transfer function:
2 s^2 + 2.5 s + 1
-----------------
      2.5 s
 
>> Gp=tf([1],[1/2 1 n])
 
Transfer function:
       1
----------------
0.5 s^2 + s + 10
 
>> Gtot=Gc*Gp
 
Transfer function:
    2 s^2 + 2.5 s + 1
-------------------------
1.25 s^3 + 2.5 s^2 + 25 s
 
>> pole(Gtot)

ans =

        0          
  -1.0000 + 4.3589i
  -1.0000 - 4.3589i

>> zero(Gtot)

ans =

  -0.6250 + 0.3307i
  -0.6250 - 0.3307i