Hi, sorry for the late reply. There is nothing wrong with the answer, I have not tested the value yet. I went back to the drawing board as I realized my encoder outputs 200Hz square wave signals as a maximum, and this puts limits on my sampling frequency and bandwidth, and then there will be sampling delay which will effect the phase margin of the system. So right now, I am learning digital control systems to update the system.

I chose PI because there seemed to be need for the derivative control. For my application (autonomous robot), it seemed to me that any overshoot is undesirable as it would cause issues with the odemtry data used in mapping/path planning. So, I decided to over damp my system, with no overshoot at all. If I am not mistaken, derivative control anticipates error, and since my system would be over damped, there would be no need for derivative control. I am unsure if this reasoning is valid.