How can I design the C(z) controller so that the steady state error for a step input r(t)=1(t) is zero?
I know that this has to do with the system type and in this case we have to deal with a type 0 system which for a step input will give a finite steady state error. Adding an integrator we make the type 1 getting the desired result. Now how would we deal with this in a discrete system? Do I get my constant time controller and convert it to a discrete controller?