Discrete pid controller difference equation

Discrete-time PID controllers are expressed by the following formulas. C = K p + K i I F ( z ) + K d T f + D F ( z ) , where: K_p = proportional gain.

1. What is the general equation for PID controller?
2. What is discrete PID controller?
3. What is the basic difference between a discrete PID controller and continuous PID controller?
4. How do you discretize a PID controller?

What is the general equation for PID controller?

Proportional-Integral-Derivative Control

C = 1 Kp + Ki * --- + Kd * s s with Kp = 350, Ki = 300, Kd = 50 Continuous-time PID controller in parallel form.

What is discrete PID controller?

The Discrete PID Controller block implements a PID controller (PID, PI, PD, P only, or I only). The block is identical to the PID Controller block with the Time domain parameter set to Discrete-time .

What is the basic difference between a discrete PID controller and continuous PID controller?

Continuous-time controller is designed in the s-domain, whereas a discrete-time controller is designed in the z-domain. Therefore you cannot use the same numeric values to obtain the same response. Continuous is implemented with analogue electronics. Discrete means digital.

How do you discretize a PID controller?

A straightforward way to discretize this controller is to convert the integral and derivative terms to their discrete-time counterpart. There are commonly 3 variations to do so, by means of forward Euler, backward Euler, and trapezoidal methods.