Use zeigler Nicolas tuning approach to calculate the the coefficients.

This File can be useful for you

i don't know transfer function of a system by using ziegler nicloas how can i find the parameters

If you mean, for a general second order,; however you have to specify whether there is a zero (positive or negative) or not in the open-loop transfer function. Then you can specify a third-order polynomial corresponding to three negative selected poles, then after you obtain three algebraic equations to solve for Kp and Ki under specific conditions and a stable operation. This is a complete algebraic method, the performance can be found and adjusted by simulation.

please find attached a good course on the methods of calculations.

good read

No ... It seems to me that it is not hard to read .. because it is a mathematical equations

Hi Sai, there are plenty of methods for optimal PID parameter calculation. One simple method is e.g. Naslin method, You should find an example (2nd order system + PI)  in the link below:

https://books.google.sk/books?id=uAliLchiXz8C&pg=PA282&lpg=PA282&dq=naslin+method+coefficients+table&source=bl&ots=kO6KiZeD8x&sig=x7SGr9S5BVLKnL0_ldUjWppoObc&hl=sk&sa=X&ei=W9G4VI6dCsyAUbKhgNAF&ved=0CHcQ6AEwCQ#v=onepage&q=naslin%20method%20coefficients%20table&f=false

The simplest way is to obtain the simulatanuous alagebraic equations from comparing the closed loop characteristic equation to your desired one, and then solving those will give k_p and k_i etc.