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Control Systems Formula Sheet
Control Systems Formula Sheet
1
s
F s ( )
f(t-T) (T is a time delay) e
-sT
F(s)
(t) 1
1
s
1
t
n
n
s
n
!
+1
e
-at
1
s a +
t
n
e
-at
( )
n
s a
n
!
+
+1
sin(bt) b
s b
2 2
+
cos(bt) s
s b
2 2
+
e
-at
sin(bt)
( )
b
s a b + +
2
2
e
-at
cos(bt)
( )
s a
s a b
+
+ +
2
2
Initial and Final Value Theorem
| | | |
f f t sF s
t s
( )
lim
( )
lim
( ) 0
0
= =
| | | |
f f t sF s
t s
( )
lim
( )
lim
( ) = =
0
2
Transfer Function Definition
| |
| |
G(s) =
y(t)
u(t)
Y(s)
U(s)
The Laplace Transform of the output
The Laplace Transform of the input
=
L
L
=
Assuming all initial conditions are zero.
System Transfer Function
Differential Equation
Gain
G(s) = K
y = Ku
Integrator
G s
s
( ) =
1
y u dt =
.
First Order
G s
K
sT
( ) =
+ 1
T
dy
dt
y Ku + =
Second Order
G s
K
s s
n
n n
( ) =
+ +
2
2 2
2
d y
dt
dy
dt
y K u
n n n
2
2
2 2
2 + + =
System
Unit Step Response (assuming all ics = 0)
First Order
y K e
t
T
=
|
\
|
.
|
1
Second Order
( ) ( ) y K e t t
n
t
d
n
d
d
= +
|
\
|
.
|
(
(
cos sin
where
d n
= 1
2
,
n
t
=
max
1
2
,
overshoot e =
1
2
,
( ) ( )
( ) ( )
=
+
ln
ln
overshoot
overshoot
2
2
2
3
Rules for Block Diagram Manipulation
G
A
(s) G
B
(s)
G
A
(s)G
B
(s)
+
G
A
(s)
G
B
(s)
G
A
(s) G
B
(s)
G(s)
=
G(s)
G(s)
G(s)
1
G(s)
G(s)
G(s)
+
G(s)
G(s)
+
G(s)
G(s)
1
G(s)
+
G(s)
+
H(s)
G(s)
1 + G(s)H(s)
4
2. SYSTEM PERFORMANCE
Steady State Output
y
t
y t
s
sY s
ss
=
=
lim
( )
lim
( )
0
Steady State Error
=
ss
e u - y
ss
Steady State Error for Unity Feedback Systems
Step
u(t) = 1
Ramp
u(t) = t
Parabolic
u(t) = t
2
/2
Type 0
e
K
ss
p
=
+
1
1
e
ss
=
e
ss
=
Type 1
e
ss
= 0
e
K
ss
v
=
1
e
ss
=
Type 2
e
ss
= 0
e
ss
= 0
e
K
ss
a
=
1
Position Error Constant
| |
K G s
p o
=
lim
s 0
( )
Velocity Error Constant
| |
K sG s
v o
=
lim
s 0
( )
Acceleration Error Constant
| | ) s ( G s
0 s
lim
K
o
2
a
=
5
3. SIMPLE CONTROLLERS
Controller
G
c
(s)
Proportional
K
Proportional + Integral
K
K
s
i
+
or K
s
s
+ |
\
|
.
|
where =
K
K
i
Proportional + Derivative
K K s
d
+
or ( ) K sT
d
1+ where T
K
K
d
d
=
Proportional + Integral + Derivative
(Three Term Controller)
K
K
s
K s
i
d
+ +
Lead Controller
b s
a s
K
+
+
where a < b
or
T s 1
sT 1
K
+
+
where < 1
Lag Controller
b s
a s
K
+
+
where a > b
or
T s 1
sT 1
K
+
+
where > 1
4. ROUTH STABILITY CRITERION
D(s) = a
n
s
n
+ a
n-1
s
n-1
+ a
n-2
s
n-2
+ a
n-3
s
n-3
+ a
n-4
s
n-4
+ a
n-5
s
n-5
+ ... = 0
s
n
a
n
a
n-2
a
n-4
s
n-1
a
n-1
a
n-3
a
n-5
s
n-2
b
n-1
b
n-3
b
n-5
. . . .
. . . .
. . .
s
0
h
n-1
1 n
3 n n 2 n 1 n
1 n
a
a a a a
b
=
1 n
5 n n 4 n 1 n
3 n
a
a a a a
b
=
6
5. ROOT LOCUS
No
Drawing Rules
1
All loci start for K = 0 at the Open Loop Poles and finish for K = at either Open Loop Zeros or s = .
2
There will always be a locus on the real axis to the LEFT of an ODD number of Open Loop Poles and Zeros.
3
If there are n Open Loop Poles and m Open Loop Zeros, there will be n-m loci ending at infinity on asymptotes
at angles to the real axis of
=
1 1
where
i
is the angle from the ith open loop pole and
i
is the angle from the ith zero.
The angle of arrival of a locus at a complex zero is given by;
a i
i
n
i
i
i a
m
= 180 +
= =
1 1
7
Magnitude Condition
=
=
=
m
1 i
i
n
1 i
i
Z
P
K
Angle Condition
180 = -
i
i
n
i
i
m
= =
1 1
Lines of constant damping
=
2
- 1
where s = + j
NB Straight line through the origin of the s plane. Also lines makes an
angle cos
-1
with the negative real axis
Lines of constant undamped
natural frequency
2
n
2 2
= +
NB Circle with centre on the origin of the s plane and radius
n
6. FREQUENCY RESPONSE METHODS
u(t) = sin(t)
y(t) = R.sin(t + )
G(s)
R G j a b = = + ( )
2 2
= =
|
\
|
.
|
G j
b
a
( ) tan
1
G(j ) = a( ) + jb( )
g R = 20
10
log
y(t) = R.sin(t + )
u(t) = sin(t)
G
2
(s) G
1
(s)
G
3
(s)
R R R R =
1 2 3
g g g g = + +
1 2 3
= + +
1 2 3
8
Nyquist Diagrams of Common System Elements
G(s)
R
Nyquist Diagram
Gain Term
K
K
0
K
Integrator
1
s
1
-90
Differentiator
s
90
First Order Lag
1
1+ sT
1
1
2 2
+ T
( )
tan
1
T
1
First Order Lead
1+ sT
1
2 2
+ T
( ) tan
1
T
1
Second Order Term
n
n n
s s
2
2 2
2 + +
( )
( )
n
n n
2
2 2
2
2
2 +
|
\
|
.
|
tan
1
2 2
2
n
n
Pure Time Delay
e
sT
D
1
T
D
(in radians)
9
Bode Plots of Common System Elements
G(s)
g (dB)
(deg)
Gain Plot
Phase Plot
Gain Term
K
20log
10
K
0
2 0 lo g 1 0 K
0
Integrator
1
s
20
1
10
log
|
\
|
.
|
-90
1
-20 dB/dec
0
-90
0
Differentiator
s
( ) 20
10
log
90
1
20 dB/dec
0
90
0
First Order Lag
1
1+ sT
20
1
1
10
2 2
log
+
|
\
|
.
|
|
T
( )
tan
1
T
1/T
-3dB
0
-20 dB/dec
1/T
-45
0
-90
10/T 0.1/T
First Order Lead
1+ sT
20 1
10
2 2
log +
|
\
|
.
| T
( ) tan
1
T
1/T
20 dB/dec
3dB
0
1/T
45
0
90
10/T 0.1/T
Second Order Term
n
n n
s s
2
2 2
2 + +
( )
( )
20
2
10
2
2 2
2
2
log
n
n n
+
|
\
|
.
|
|
|
|
|
\
|
.
|
tan
1
2 2
2
n
n
n
-40dB/dec
-20log10(2)
0
n
-90
180
0
10
7. DIGITAL CONTROL
Discrete Time Domain z Domain
(T = sample time period)
Laplace Domain
f(k) F(z) or Z[f(k)] F(s)
a.f(k) + b.g(k) a.F(z) + b.G(z) a.F(s) + b.G(s)
f(k+1) zF(z) - zf(0) e
sT
F(s)
f(k-1) z
-1
F(z) e
-sT
F(s)
(k) 1 1
(k-n) z
-n
e
-snT
1 z
z 1
1
s
k
( )
Tz
z 1
2
1
2
s
2
k
! 2
1
(
+
3
2
) 1 z (
) 1 z ( z
! 2
T
3
s
1
e
-ak
z
z e
aT
1
s a +
ke
-ak
( )
Tze
z e
aT
aT
2
( )
1
2
s a +
1 - e
-ak
( )
z( e
z z e
aT
aT
1
1
)
( )
( ) a s s
a
+
k - (1 - e
-ak
)/a
| |
( ) ) e z ( 1 z a
aTe e 1 ( ) e 1 aT ( z z
aT 2
aT aT aT
+ +
( ) a s s
a
2
+
sin(ak) z aT
z z aT
sin( )
cos( )
2
2 1 +
2 2
a s
a
+
cos(ak) z(z aT
z z aT
+
cos( ))
cos( )
2
2 1
2 2
a s
s
+
e
-ak
sin(bk)
ze bT
z ze bT e
aT
aT aT
+
sin( )
cos( )
2 2
2
( )
b
s a b + +
2
2
e
-ak
cos(bk)
z(z e bT
z ze bT e
aT
aT aT
cos( ))
cos( )
2 2
2
( )
s a
s a b
+
+ +
2
2
Zero Order Hold
(A/D and D/A
converters)
G
H
(z)
1
e
s
sT
11
8. STATE SPACE METHODS
Continuous
Digital
Standard
Form for State
Space Model
& x Ax Bu
y Cx Du
= +
= +
) k ( u D ) k ( x C ) k ( y
) k ( u G ) k ( x F ) 1 k ( x
+ =
+ = +
Transfer
Function
Matrix
( ) G s C sI A B D ( ) = +
1
( ) G z C zI F G D ( ) = +
1
Characteristic
Equation
( ) det sI A = 0
( ) det zI F = 0
State Time
Response
x t e x e Bu d
At A
t
( ) ( ) ( ) = +
(
(
0
0
x k F x F Gu k i
k i
i
k
( ) ( ) ( ) + = +
+
=
1 0
1
0
Transition
Matrix
| |
( ) ( ) t e sI A
At
= =
L
-1 1
L + + + + = =
! 3
t A
! 2
t A
At I e ) t (
3 3 2 2
At
F e
AT
=
| |
G A F I B =
1
State
Feedback
Equation
( )
& x Ax B u Kx = +
( ) ) k ( x K ) k ( u G ) k ( x F ) 1 k ( x + = +
Characteristic
Equation with
state feedback
( ) det sI A BK + = 0
( ) det zI F GK + = 0
Controllability
Matrix
| | c
n
M
= B AB A B A B M M MLM
2 1
| | c
n
M
= G FG F G F G M M MLM
2 1
Controllable
Canonical
Form
| |
& x
a a a a
x u
y b b b b x
c
n
c
n n c
=
(
(
(
(
(
(
+
(
(
(
(
(
(
=
0 1 0 0
0 0 1 0
0 0 0 1
0
0
0
1
0 1 2 1
0 1 2 1
L
L
M M M O M
L
L
M
L L
| | ) k ( x b b b b ) k ( y
) k ( u
1
0
0
0
) k ( x
a a a a
1 0 0 0
0 1 0 0
0 0 1 0
) 1 k ( x
c 1 n 2 n 1 0
c
1 n 2 1 0
c
=
(
(
(
(
(
(
+
(
(
(
(
(
(
= +
L L
M
L
L
M O M M M
L
L
12
Ackermanns
Formula for
State Feedback
If desired CE is
s s s
n
n
n
+ + + + =
1
1
1 0
0 L
| | ( ) K M A
c
=
0 0 1
1
K
where
( ) A I A A A
n
n n
= + + + +
0 1 1
1
L
If desired CE is
z z z
n
n
n
+ + + + =
1
1
1 0
0 L
| | ( ) K M F
c
=
0 0 1
1
K
where
( ) F I F F F
n
n n
= + + + +
0 1 1
1
L
State
Estimator
Equation
&
$
$ (
~
$) x Ax Bu P y y = + +
)) k ( y ) k ( y
~
( P ) k ( Gu ) k ( x F ) 1 k ( x + + = +
Characteristic
Equation for a
State
Estimator
( ) det sI A PC + = 0
( ) det zI F PC + = 0
Observability
Matrix
o
n
M
=
C
CA
CA
CA
2
1
L
(
(
(
(
(
(
(
o
n
M
=
C
CF
CF
CF
2
1
L
(
(
(
(
(
(
(
Observable
Canonical
Form
| |
& x
a
a
a
a
x
b
b
b
b
u
y x
o
n
o
n
o
=
(
(
(
(
(
(
+
(
(
(
(
(
(
=
0 0 0
1 0 0
0 1 0
0 0 1
0 0 0 0 1
0
1
2
1
0
1
2
1
L
L
M
L L O L M
L
M
L
| | ) k ( x 1 0 0 0 0 ) k ( y
) k ( u
b
b
b
b
) k ( x
a 1 0 0
a 0 1 0
a 0 0 1
a 0 0 0
) 1 k ( x
o
1 n
2
1
0
o
1 n
2
1
0
o
L
M
L
M L O L L
M
L
L
=
(
(
(
(
(
(
+
(
(
(
(
(
(
= +
Ackermanns
Formula for
State Estimators
If desired CE is
s s s
n
n
n
+ + + + =
1
1
1 0
0 L
( ) | | | |
P A M
o
T
=
1
0 0 1 K
where
( ) A I A A A
n
n n
= + + + +
0 1 1
1
L
If desired CE is
z z z
n
n
n
+ + + + =
1
1
1 0
0 L
( ) | | | |
P F M
o
T
=
1
0 0 1 K
where
( ) F I F F F
n
n n
= + + + +
0 1 1
1
L