MEEM4700 Equation Sheet

Laplace Transform Properties

f(t) F(s) Property
f
1
(t) + f
2
(t) F
1
(s) + F
2
(s) Superposition
f(t ) F(s)e
s
Time Delay ( 0)
f(at)
1
|a|
F(
s
a
) Time Scaling
e
at
f(t) F(s + a) Shift in Frequency
f
(m)
(t)
s
m
F(s) s
m1
f(0)+
Dierentiation
s
m2

f(0) f
(m1)
(0)

f()d
1
s
F(s) Integration
f
1
(t) f
2
(t) F
1
(s)F
2
(s) Convolution
f(0)
lim
s
sF(s)
Initial Value Theorem
lim
t
f(t) lim
s0
sF(s)
Final Value Theorem
tf(t)
d
ds
F(s) Multiplication by Time
Laplace Transform Table
# f(t) F(s) # f(t) F(s)
1 (t) 1 11 1 e
at a
s(s+a)
2 1(t)
1
s
12
1
a
(at 1 + e
at
)
a
s
2
(s+a)
3 t
1
s
2
13 e
at
e
bt ba
(s+a)(s+b)
4 t
2 2!
s
3
14 (1 at)e
at s
(s+a)
2
5 t
3 3!
s
4
15 1 (1 + at)e
at a
2
s(s+a)
2
6 t
m m!
s
m+1
16 be
bt
ae
at
(ba)s
(s+a)(s+b)
7 e
at 1
(s+a)
17 sin (at)
a
s
2
+a
2
8 te
at 1
(s+a)
2
18 cos (at)
s
s
2
+a
2
9
1
2!
t
2
e
at 1
(s+a)
3
19 e
at
cos (bt)
s+a
(s+a)
2
+b
2
10
1
(m1)!
t
m1
e
at 1
(s+a)
m
20 e
at
sin (bt)
b
(s+a)
2
+b
2
Eulers Identity
sin (t) =
e
jt
e
jt
2j
cos (t) =
e
jt
+e
jt
2
1
Approximate Design Equations for 2nd Order Systems
Rise Time: t
r

1.8
n
Percent Overshoot: %M
p
= 100e
()/(

1
2
)
or
%M
p

5 0.7
10 0.6
15 0.5
25 0.4
1% Settling Time: t
s
=
4.6
n
Time of Peak Overshoot: t
p
=

n

1
2
Root Locus Equations
Characteristic Equation: F(s) = s
n
+a
n1
s
n1
+ +a
0
+K[s
m
+b
m1
s
m1
+ +b
0
] = 0
Real Axis Asymptote Intercept: =
b
m1
a
n1
nm
Asymptote Angles:
k
=
(2k+1)
nm
, k = 0, 1, 2, . . . , (n m1)
Angles of Departure & Arrival: [
z
1
+ . . . +
zm
] [
p
1
+ +
pn
] = 180

Breakaway (Break-in) Points:

d
ds
G(s) = 0
Error Constants
Position: K
p
= lim
s0
[G(s)] .
For Type 0 Systems, with a step input: e
ss
=
1
1+Kp
Velocity: K
v
= lim
s0
[sG(s)] .
For Type 1 Systems, with a ramp input: e
ss
=
1
Kv
Acceleration: K
a
= lim
s0
[s
2
G(s)] .
For Type 2 Systems, with a parabolic input: e
ss
=
1
Ka
2