Piduma | Design

[ G(s) = \fracK\tau s + 1 ]

[ u(t) = K_p e(t) + K_i \int e(t)dt + K_d \fracde(t)dt ] piduma design

Is discretized (Tustin method, sampling time ( T_s = 0.05 ) s): [ G(s) = \fracK\tau s + 1 ]