Advanced control engineering (S.R. Burns, 2001)

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2

c(kT )

Continuous

1.8

1.6

Tustin’s rule

1.4

1.2

1

0.8

0.6

0.4

0.2

0

0

0.5

1

1.5

2

2.5

3

3.5

4

4.5

5

R(s) +

C(s)

3

–

s(s + 1)

(a)

R(s) +

C(s)

1 – e

–Ts

D(z)

–

T

s

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ζ = 0.5

jω

K = 0.336

0.866

×

×

–1

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