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/usr/share/octave/packages/control-3.0.0/optiPIDctrl.m is in octave-control 3.0.0-2.

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% ===============================================================================
% optiPIDctrl                      Lukas Reichlin                   February 2012
% ===============================================================================
% Return PID controller with roll-off for given parameters Kp, Ti and Td.
% ===============================================================================

function C = optiPIDctrl (Kp, Ti, Td)

  tau = Td / 10;    % roll-off

  num = Kp * [Ti*Td, Ti, 1];
  den = conv ([Ti, 0], [tau^2, 2*tau, 1]);
  
  C = tf (num, den);

end

% ===============================================================================