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$\begingroup$ The sampling time has been selected as $10^{-3}s$ accordingly with the fastest pole (60 rad/s) . $\endgroup$
– weirdgyn
Commented Feb 14 at 8:41
$\begingroup$ I know all the discretization theory Tustin, Euler and other substitution methos... but the typical problems I work on always lead to PI controller and never full PID .. this time have been a little bit suprised by the differences between gain factor of the two parts. $\endgroup$
– weirdgyn
Commented Feb 14 at 8:44
$\begingroup$ in my control theory books they refer to Tustin method (or bilinear transform) ... of course Tustin method use the first order Padè approximant in the form you reported but they are called methods o transforms. $\endgroup$
– weirdgyn
Commented Feb 29 at 8:11

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