1ba5acd0-6bc4-4eab-b43c-f7474f2ee94e20220126044616764wseas:wseasmdt@crossref.orgMDT DepositWSEAS TRANSACTIONS ON COMPUTERS2224-28721109-275010.37394/23205http://wseas.org/wseas/cms.action?id=40261520221520222110.37394/23205.2022.21https://wseas.com/journals/computers/2022.phpTain-SouTsayDepartment of Department of Aeronautical Engineering National Formosa University 64, Wen-Hua Road, Huwei, Yunlin, TAIWANA digital controller for exact command tracking control without integration is derived from a periodic series. The ratios of adjacent values will be converged to unities after the output has tracked the reference input command. Integration in control loop usually introduces phase lag to slow command response and degrade performance.13202213202218223https://wseas.com/journals/computers/2022/a065105-003(2022).pdf10.37394/23205.2022.21.3https://wseas.com/journals/computers/2022/a065105-003(2022).pdfK. Ogata, Discrete-Time Control System, Prentice-Hall Inc. Englewood Cliffs, NJ, 1994. G. F. Franklin, et al, Feedback Control Dynamics, 7/e, Pearson Education North Asia, Ltd., Hong Kong, 2015. C. L.Phillips, and H. T. Nagle, Digital Control System Analyses and Designs, 4/e, Prentice-Hall Inc., Englewood Cliffs, NJ, 2014. 10.1109/9.392G. S.Buja, and A. Souliaev, ”A Variable Structure Controller,” IEEE Trans. on Automatic Control, Vol.33, 1988, pp.206-209. G. F. Franklin, and J. D Powelll, Feedback Control Dynamics, Addison-Wesley Publishing Company, 1986. G. F. Franklin, J. D. Powell and M. L. Workman, Digital Control of Dynamics, Ellis-Kagle Press., Half Moon Bay, CA, 2006. J. G. Ziegler and N. B. Nichols, Optimum Setting for Automatic Controller, Transactions of ASME, Vol.65, 1942, pp.759-768. 10.1016/j.jprocont.2004.01.002K. J. Ǻström, T. Hägglund, Revisting the Ziegler-Nichols step responses method for PID control, Journal of Process Control, Vol.14, 2004, pp.635-650. K. J. Ǻström and C. C. Hang, Towards Intelligent PID Control, Automatica, Vol.28, pp.1-9, 1991. 10.1049/ip-d.1993.0030M. Zhuang and D. P. Atherton, Automatic Tuning of Optimum PID Controllers, IEE Control Theory Application, Vol.140, 1993, pp.216-224. 10.1049/ip-cta:19990433S. Majhi and D.P. Atherton, Auto-tuning and controller design for process with small time delays, IEE Proc. Control Theory Application, Vol.146, pp.415-425, 1999. 10.1016/j.jprocont.2005.04.006S. Majhi, On-line PI Control of Stable Process, Journal of Process Control, Vol.15, 2005, pp.859-867. D. Q. Mayne, Sequential Design of Linear Multivariable Systems, Proceeding of IEE, Vol.126, 1979, pp.568-572. T. S. Tsay, A Sequential Design Method for Multivariable Feedback Control Systems, WSEAS Transactions on Systems, Vol.8, No.12, 2009, pp.1294-1304.