The controller clock matters
Do identical PID gains behave the same at 10, 20 and 80 ms?
Try it in the current lab
Change only Controller period from 20 to 80 ms, then to 10 ms. Keep the plant, seed and disturbance fixed.
Pin the 20 ms run. Change only the controller update period and compare response, voltage and the sampled Bode plot.
The lab recalculates after a setting changes. Pin a run before changing one variable; the response and control-effort plots share the same replay time. PID experiments also show the P/I/D terms; estimator experiments show measured and estimated states.
What the system is doing
The plant continues between samples while the command is held. Discrete integration, derivative filtering and phase shift depend on the update period. Faster sampling is not an automatic cure for noise or physical limits.
Connect the design method
Only the motor controller period changes here. The plant still integrates every 5 ms and the plot records every 20 ms. The frequency panel recomputes the sampled nominal loop at the selected period. Compare 10, 20, 40 and 80 ms under one seed and load.
ωNyquist = π/Ts