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A method of digital redesign that can take computational delays and disturbances into account is presented and applied to an industrial analog driver for stepping motors. The method is based on the so-called Plant-Input-Mapping (PIM) method, which guarantees the stability for any non-pathological sampling interval and is extended to the case where computational delays are present. The delay, which does not have to be integral multiple of the sampling period, is considered to be a part of the plant so that adverse effects of the delay on the digital controller performance can be taken into account. Since the effects of disturbances in the motor should also be dealt with in the driver, modifications to the PIM are incorporated such that the characteristics from the disturbance to the plant-input can be adjusted without affecting those from the reference input. The performance of the resulting PIM method is investigated experimentally and found to be very close to that of the analog original, which cannot be recreated using the commonly used Tustin’s method at a sampling rate suitable for commercial production.

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