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Making the control algorithm discrete sounds simple -- which is what I thought. You think that it is about updating the numerics to fixed-time-step, and choosing a suitable sample rate. Well introducing a new feature into a functioning system is not always easy, as you fix one thing, you can break multiple things. In this video you will see that the change to discrete is simple, and that this led to a stability issue for the robot control. This video demonstrates a key advantage of Simulink is to enable the multitude of solution paths through simulation.

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