Design of a Discrete PID Controller for a DC Motor 
Q1. What is the main advantage of using a discrete PID controller over a continuous one?
Q2. What is the discrete-time equivalent of the integral term in a PID controller?
Q3. Which method is commonly used to discretize the PID controller for digital implementation?
Q4. What is the discrete state matrix for the given continuous state matrix 
? ( 
is the sampling time)
? ( is the sampling time)
Q5. What is the primary purpose of adding an integral action in a state feedback control system?