Simply P = KP * e, so we just sample the equation, the integral controller is the integral is actually realized by a, what is known as a trapezoidal integration, right, not even, not even trapezoidal, this is, this is, you know, what is called backward difference integration, right, so what we are doing is that, we simply assume that since e is going to be constant over the time interval k - 1 to k.
അതിനാൽ പ്രൊപോഷണൽ കണ്ട്രോളർ P = KP * e . ആണ്. നമ്മൾ സമവാക്യം സാമ്പിൾ ചെയ്യുന്നു.