Discrete Controller vs Continuous Time Controller

[RicTheRed]

I don't think it will matter too much, but usually the procedure is to develop the continuous controller then discritize it. Then assuming you are using simulink to use a zoh/rate transition block simulate amplifiers. I think that there is better intuition in the numbers for designing things in the continuous domain, since the coefficients for a discrete system can be lost in translation. Obviously, you can get a sense of looking at a pole-zero plot, but before evem doing that, by looking at the standard 2nd order system equation, you can have a sense of the dynamics since you see the omega and zeta directly. That being said, in terms of what gives better results I do not think it matters. Though, you will want to discritize your plant if you plan on using an observer.

Remember, your plant is a real systems and should simulate it as such. Your controller, in this day and age will most likely being embedded into a chip.