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=== Implementation in code ===
=== Implementation in code ===
If we switch gears into digital signal processing land, we realize that we can implement a leaner system in discrete time
If we switch gears into digital signal processing land, we realize that we can implement a linear system in discrete time using what's called a difference equation. This is just a simple equation of a linear combination of past inputs and outputs. The are magical things, and you can pick coefficients tons of different stuff.
The difference equation used for spaghetti is called a [[biquad filter | https://en.wikipedia.org/wiki/Digital_biquad_filter]]. This forms a 2nd order difference equation, as it uses the last two inputs and outputs. With a biquad, we can place two poles and two zeros anywhere we want in the s-plane.
* ENGR105 Feedback Control
* ENGR105 Feedback Control
[[Category:ValBal_Controls]
[[Category:ValBal_Controls]]