4. Discrete-time synthesis

To obtain a digital corrector, a procedure similar to that developed in the previous paragraphs was followed, considering an "equivalent" continuous-time problem obtained by means of the w-transform : this has the property of projecting the imaginary axis Re (p ) = 0 onto the unit circle Íz Í = 1, which preserves closed-loop stability and the norm H _∞ , and this for any value of the sampling period T _e .

The latter was chosen to be equal to 0.2 ms: this is a sufficiently high value to allow the implementation of a corrector of order less than 14, and...