Discrete PID algorithm for digital final control elements

Is there a Discrete PID algorithm for digital final control element?  This is used to turn on one digital output for a positive move and another digital output for a negative move.

Good day APCO, I hope all is well.
I have a couple of questions for you. Are you using LabVIEW? And if you are what version? Also, are you using any toolkits or modules.
I know that there is a Discrete PID VI in the FPGA module. Here is the link to some information about that specific VI.
http://zone.ni.com/reference/en-XX/help/371599A-01/lvfpga/discrete_pid/#details
If you are not using the FPGA module, we have a PID Toolkit that contains a myriad of VIs. Here is the link for the PID Toolkit.
http://www.ni.com/toolkits/lv_pid_control.htm#des
http://www.ni.com/pdf/manuals/322192a.pdf
Please take a look at the information and let me know if you have further questions. Have a great day.
Efosa O.

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