PID control schemes on integer grid coordinates

This paper describes discretized/quantized PID control for continuous plants on integer grid coordinates. Although all feedback control systems are currently realized using discretized signals, the analysis and design of discrete-time and discrete-value (digital) control systems has not been established yet. In this paper, the design methods of such discretized control systems are developed and compared based on PID control schemes. In the design procedure, the robust stability of nonlinear discrete-time control systems is examined in a frequency domain. Numerical examples for the design of two types of control systems are provided.