Control of the Double Integrator Process: A Cautionary Tale in Discretization

Abstract

Control of the double integrator process: a cautionary tale in discretization Starting with a double integrator under analog PID control, various discretization options are explored using Program CC. Asymptotic stability is achieved in only three cases out of seven. The failures are explained. The analog controller is then redesigned by applying a lowpass filter to the derivative term, and asymptotic stability results in all seven cases, though with inferior dynamics in one.