My suggestion are to give the step input on the system (transfer function) and get the time respon equation by solving the inverse laplace of the transfer function. Plot the output graph. Or you can make simulation on matlab for each transfer function. Slow plus time delay transient respond maybe that is the termal system, fast transient respond maybe that is motor system and etc. Hope it will help.
P1, P2 and P4 have integrators on them, i.e. 1/s. The integrator is a controller already that can be modeled in real life by an op-amp. Removing this factor from P1, P2 and P4, gives you first, second and first order systems respectively. For P1 and P4, the simplest first order real-time system I can give you is a temperature control system. For P2, you may think of it as the transfer function of a DC motor. I am just not sure if it can be realistic enough especially when you determine the different motor constants.
For P3, you may think of this as a 4th-order filter.
Do I understand your question correctly, you have the prototype transfer functions of a real plan and you need to identify their parameters? If so, you might consider designing an auto-regression system to estimate the unknowns. And you also need the state-space representation of these transfer functions.