Apply Your Knowledge 
11.7 The digital PID has an approximation of the integral mode that is not exactly the same as the continuous mode. 

11.8 The full position digital PID gives a more accurate calculation of the MV than the velocity digital PID. 

11.9 When we tune a digital PID controller, we obtain tuning that ... 

11.10 To rigorously determine the stability of a system with digital PID, we evaluate the roots of the characteristic equation; if a real part is positive, the system is unstable. 
