elnt = 0; eDotSmoothed 0; %3D ePrev 0: tNow 0; dt = 0.01; while ( 1) { tNow tNow + dt; = reference read.sensor (); eDot Partial = 2 * (e - ePrev )/ dt; e eDotSmoothed 1 * eDotsmoothed + eDotPartial;...

Leave the first 2 parts and solve only that parts that i highlighted by red pen plz solve this in one hour plz and get a thumb up


Extracted text: elnt = 0; eDotSmoothed 0; %3D ePrev 0: tNow 0; dt = 0.01; while ( 1) { tNow tNow + dt; = reference read.sensor (); eDot Partial = 2 * (e - ePrev )/ dt; e eDotSmoothed 1 * eDotsmoothed + eDotPartial; eInt = eInt + dt * (e + ePrev )/ 2; = kP * e + kI * eInt + kD * eDotSmoothed; ePrev = e; send.control (u); } What is the sampling period that has been used ? What is the use of the two variables: eInt, eDotSmoothed ? Derive the Z-domain transfer function describing the discrete con- troller. Which of the following approximation schemes has been used to derive this discrete time controller ? • Forward rectangular approximation, Backward rectangular approximation, • Trapezoidal approximation, or, • Some other approximation, that is different from the above three.