What I wrote might be a bit confusing, but essentially the G(s) transfer function above is exactly the same as the derivative term in the PID controller D(s)=Kds/(s/Kf + 1) ( from the PID block help, with Kd =1 and Kf = 1/(2pi*fc)).
I was attempting to show a) how to choose Kf per the linked post and b) that discretization techniques might be relevant.