Every time I search for help on this I am taken to the following page:
But I don't have access to the Simscape Electrical library!
In any case I would like to implement the equivalent controller using standard Simulink blocks. I'm surprised I haven't found an example or tutorial on this but I did look. If you know of one, please point me to it.
I tried implementing it myself but I'm not sure I did it right since I'm very new to Simulink. Here is my attempt:
Update: I replaced the previous example image with the one above where I am quite confident the polynomials are correct. Since it doesn't produce the desired results (unstable in closed loop even with zero process noise) I suspect there is something wrong with my simulation setup or implementation.
For example, I used the 'Discrete Filter' blocks for T(z), and S(z), and 1/R(z) transfer functions but 'Discrete Transfer Fcn' blocks for the 'B(z)/A(z)' and 'C(z)/D(z)' blocks. Not sure if that was the right choice.
I'm not looking for someone to confirm if my polynomials are correct (but feel free to let me know if you see a problem!). What I'm looking for is an authoritative implementation that I can compare my results to.