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i've got the same problem and i've tried to solve it like this, but i don't know if this is properly resolved
Let's say we've got unity feedback:
E(s) = X(s) - Y(s)
Y(s)/E(s) = 1/(s+1) ==> E(s) = Y(s) + sY(s)
then:
e(t) = y(t) + dy(t)/dt
e(t) = y(t) + [y(t) - y(t-1)]/1
e(t) =...
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