PID:

-------------------------------------------------------------------------------
   Design a PID controller of the form

   y =  cx + du
   x =  ax + bu


-------------------------------------------------------------------------------
   Form:
   [g, b, c, d] = PID( kF, kP, kR, kI, omegaR, tSamp, sType )
-------------------------------------------------------------------------------

   ------
   Inputs
   ------
   kF                  Forward gain
   kP                  Proportional gain
   kR                  Rate gain
   kI                  Integral
   omegaR              Rate cutoff
   tSamp               Sampling period (sec)
   sType               State equation type ('Delta' or 'Z')

   -------
   Outputs
   -------
   g                   Statespace data structure or
   [g, b, c, d]        Statespace

-------------------------------------------------------------------------------

Children:

Common: Classes/@statespace/statespace.m
Common: Control/C2DZOH
Common: Control/C2DelZOH
Common: Control/FResp