# Design discrete controller for zero steady state error

I have the following system

where $$G(s)=\frac{0.5}{s+1}+\frac{5}{s+10}$$

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?

• It'd be good to see what you have researched and tried so far. Showing some effort on your part will motivate others to help. Jun 24 '17 at 23:51