Using Plant Dynamics Control Theory

Hi friends,

I couldn't understand how to use plant dynamics in automation control theory.

For example,

I have a block diagram about wing position(roll balance)

Command Roll Angle -> PID -> Aileron Servo -> Aircraft Dynamics ->___ Roll Angle

^|______________Gyro_______________________|

like that

I can find PID constants using Aircraft dynamics OK.

Assume I 'm writing C code for it.What should I do now.PID out is for Servo? or

PID output is for first aircraft dynamics and in motors.What is purpose of aircraft dynamics.are we using these equalities in C code, or just for find PID constants and observation the system behavior.According to some block diagram for example that

I cant understand clearly this.What is this in C code? Is 1/0.05s+1 available in C or what.Does Missile Roll Dynamics in picture add in MCU? or just to observe the system?Please clarify my mind.