Hi @Basava
I guess you are not looking for the analytical formulas for 
and 
because you asked in this forum.
and because you asked in this forum.So, when the phase margin and the gain crossover frequency are given, you can try numerically designing something like the following example. For more info, look up the documentation of the commands used in this example.
If you find the example helpful, please consider accepting ✔ and voting 👍 on the answer. Thanks a bunch! 🙏
G = tf(1, [1 2 1]) % plant transfer function
wc = 1; % desired gain crossover frequency (rad/s)
opts = pidtuneOptions('PhaseMargin', 45, 'DesignFocus', 'reference-tracking'); % tuning options
C = pidtune(G, 'PI', wc, opts) % tuning algorithm
Gcl = feedback(C*G, 1) % closed-loop TF
margin(C*G) % check if the requirements are met
step(Gcl) % step response
