I do not know if this is the right place to ask. I am trying my best to implement a PI compensator for an integrator plant using a Micro-controller. Simulation in Matlab gets me a good result. But in real life, the digital controller lags and fails to track the input signal perfectly. Used floating point math to perform the job. Everything has been checked and all the computations are within the sampling interval time ( 2.5KHz). What could be wrong and how can it corrected.
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