Phillips and Nagle, Digital Control System Analysis and Design , Third edition, Prentice Hall 1995.
Students learn two techniques for designing digital controllers for analog systems.
The first is simply to derive a digital approximation to an analog controller designed using the methods taught in ECE C60. Students learn why this method may fail when the sample time is not small enough. The second technique, which is the focus of the course, is to derive an exact discrete-time equivalent of the analog plant and then perform the design entirely in the discrete domain.