P & PI controller, simulink and theoretical calculations.

I am having some trouble calculating the correct value of Kp, and some hints and tips for the other task would also be highly appreciated.(see attached file.)

I have already calculated some TF by hand in this task.

Gc(s)=Kp, Gd(s)=2.6/(0.0052s+0.1886), G(s)=0.33/(0.0052s+0.1886).

I have calculated

w(s)/R(s)=0.33*K*Kp/(0.0052s+0.33*K*Kp+0.1886)

Thank you for your time!