Non-minimum state space approach to true digital control based on δ - operator models

This paper has introduced the concept of True Digital Control (TDC) for near continuous-time dynamic systems described by delta (δ) operator models. The Non-Minimum State Space (NMSS) approach to control system design, on which the TDC procedure is based, is posed directly in discrete-time, δ-operator terms and takes a Proportional-Integral-Plus (PIP) form which can be compared with previous, more conventional PID controllers. By performing all design steps directly in the discrete-time domain, however, we believe this TDC approach avoids the somewhat schizophrenic nature of those, more conventional, DDC approaches which are based on the digitisation of control systems designed originally in continuous-time terms