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Problem 8.15PP
The discrete transfer function for pure derivative control is 
D d(z)=KTD ^-j^,
where the pole at z = 0 adds some destabilizing phase lag. Can this phase lag be removed by 
using derivative control of the form
D4(0 = KTd ^ ^ ^ 1
Support your answer with the difference equation that wouid be required and discuss the 
requirements to implement it.
Step-by-step solution 
Step-by-step solution
step 1 of 1 '
(a) No we can't use derivatiTe control of the form
To remove the phase lag
The difference equation corresponding to
Z)(z) = * ,7 i 2 - \ a (z ) 
T E{z) 
e ( A + l) - « (jt)