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Get Chapter 26 Design Of Digital Controllers Form

Since the nominal steady-state value or bias J5 is a constant the change in the controller output PII is given by PII PII - PII-l 26-7 P - P -1 As shown in Chapter 8 the velocity form of the controller can be found by shifting 26-3 to obtain PII-l and subtracting it from 26-3 Kc ell - ell - 2elll 26-8 Taking the z-transform of 26-8 gives 1 - 2rl z-- E z 26-9 DESIGN OF DIGITAL CONTROLLERS Note that Eq. The controller is implemented in difference e.

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