Factors in the design of digital controllers for sampled-data feedback systems
E. John Bertram · Transactions of the American Institute of Electrical Engineers Part II Applications and Industry · 1956
This report is an extension of the design procedure proposed by Bergen and Ragazzini1 for error-sampled control systems. Restrictions on the specification of the over-all transmission K∗(z) caused by steady-state error considerations and the inability to cancel poles perfectly and zeros of the plant on or outside the unit circle are discussed. A design procedure which includes these restrictions is presented.