General synthesis procedure for computer control of single-loop and multiloop linear systems (an optimal sampling system)

This paper is concerned with the problem of designing optimal systems for the control of a plant governed by a linear differential equation with constant coefficients. Control is exerted by means of piecewise constant signals which can change only at the ¿sampling instants.¿ Optimality means here, as in some nonlinear problems, that the system achieves equilibrium with zero steady-state error from any initial state as quickly as possible.