.ATplus.Controller.Conventional.Discrete.Discrete_PIDSmooth

Information

 Discrete version of PID Controller with the form :


              [           1           Kd s     ]
              [                                ]
  G(s) = Kp * [  1   +  ------  +   ---------- ]
              [                      Kd        ]
              [          Ki s        -- s + 1  ]
              [                       N        ]