Design PI controller using LM2743 analogue controller
Although P feedback is stable and simple, PI feedback reduces gain error thus better load regulation but increases overshoot. While PID offers a better compromise. The RC filters in series are  Lead-Lag compensation being a  limited D frequency range.

The design must start with tolerance specs for each source of error: load limits, overshoot transient and time; load regulation error ;input sensitivity, and temperture rise worst case, for each range of expected variables.    


  It is a good practice to get used to doing things this way by learning how formal PSU's summary specs are done and follow these definitions.  An ATX spec might be >10 pages and have a dozen parameters that you can summarize including environment specs.


The lead-lag filter is described with the phase-gain margin of the response in the App. Note.
Integrators reduce ripple but decrease stability.
Differentiators, increase stability and step response time but add ripple.  

A Lead-Lag filter usually adds enough derivative gain just before unity gain to boost the phase margin. It may only be a 10dB boost in gain in the HF range just before unity gain.

The basic process of choosing these filters requires the entire loop response in order to apply asymptotic lines with the understanding that the breakpoint applies a 45 deg. phase shift and goes to 0 and 90 deg exceeding a +/- decade span.  You can find a full step-by-step description elewhere, such as your Control Systems textbook.

Generally when you do this on a regular basis, you will rely on a tool to visualize the results in sumulation.    

Although this one, I did for you, (Falstad) although no phase, it is interactive  and you can edit any components with a Bode plot.  It can be exported and do DSO time plots as well.   

You can use Vspice or any others you have for Bode Analysis or Nyquist analysis. 

You might also look at my choice of a  more efficient TI regulator in WebBench.