hello Steven,
there are two pieces. 1st, you need to write your PID controller in form A(Bs+1)(Cs+1)/s. This gives you A = R1*C1 and B = R2*C2. (you could also expand the design equation you have if you don't want to factor your equation to solve for B and C)
Now, the design equations you have shared provide more variables than equations, so you need to arbitrarily assign some values before other values can be determined. For instance, you can just set both your capacitor values to 10 uF. This will determine what R1 and R2 are, which in term will tell you what ratio R3 and R4 must be. I think you'll then need to pick a value for R3 or R4 to get the final value.
if you have the symbolic toolbox, you can use matlab to do this analytically, or you can do the math by hand.
Regards,
Joel