Robotino3 PI controller
From RobotinoWiki
Discrete PI controller
a) is the PI controller in continuous time domain form.
b) is the approximation of the integral by a discrete sum.
c) is the resulting discretised PI controller.
d) is the discretised PI control law time shift back one interval.
e) is derived by subtracting d) from c). e) is the so called velocity form of the discretised PI controller.
