10.10 Consider the following version of real PID controller: 1 kc 1 E(s) U(s) Is Fs1 Ds has been developed as an approximation of the ideal PD controller

(a) Derive a state-space description for this controller

(b) Derive a zero-order-hold discretization of the controller equations of the previous question.

10.10 Consider the following version of "real PID controller": (a) Derive a state-space description for this controller (b) Derive a zero-order-hold discretization of the controller equations of the previous