Abstract-The paper deals with an analysis of automatic control system with continuous and discrete PID controllers. A method of tuning the parameters of the continuous controller is presented, which is optimal according to the ITAE criterion. The behavior of control systems with discrete controllers whose parameters were tuned using the mentioned method are described. The impact of changes in the sampling period of controlled signal on the control quality is shown. Changes of the values of optimal parameters of discrete PID controllers in relation to changes of the sampling rate of controlled signal are characterized.

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