(a) For the digital velocity P and PD algorithms, show how the set point enters into calculation of \Delta p_{k} on the assumption that it is not changing, that is, y_{s p} is a constant.
(b) What do the results indicate about use of the velocity form of P and PD digital control algorithms?
(c) Are similar problems encountered if the integral mode is present, that is, with PI and PID forms of the velocity algorithm? Explain.