Discrete-time pid controller implementation

1. What is discrete PID controller?
2. How do you discretize a PID controller?
3. How is PID implemented?

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 .

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.

How is PID implemented?

Position form implementation of PID controllers involves direct discretization of the continuous time controller. There are only two types of PID controllers using the velocity form for implementation. One is proportional PI controller, the other is PID controller.