O strojeniu regulatorów cyfrowych z wykorzystaniem mechanizmów quasi-ciagłych

This paper presents the methodology for the synthesis of a discrete PID-type controller using a quasi-continuous representation of this system by consideration sample time in both plant and controller. Such an approach, proposed by authors, allows us to use algorithms designed for continuous control systems. This method uses a continuous approximation of the dynamic system at discrete sampled times. It makes it possible to shape the time response already at the system design stage. In addition, different methods of implementing a discrete PID controller are presented.