l Telenor 1:10 pm A @ 91% Numerical Ana... 13 minutes ago eInt = 0; eDotSmoothed = 0; ePrev = 0: tNow = 0; dt = 0.01; while ( 1 ) { tNow tNow + dt; = reference - read.sensor (); = 2 * (e - ePrev ) /...

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Extracted text: l Telenor 1:10 pm A @ 91% Numerical Ana... 13 minutes ago eInt = 0; eDotSmoothed = 0; ePrev = 0: tNow = 0; dt = 0.01; while ( 1 ) { tNow tNow + dt; = reference - read.sensor (); = 2 * (e - ePrev ) / dt; e e Dot Partial eDotSmoothed = - 1 * eDotsmoothed + eDotPartial; = eInt + dt (e+ePrev ) / 23; = kP * e + kI * eInt + kD * eDotSmoothed; eInt u 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.