DorfEMv2.

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Modern Control Systems, Eleventh Edition, by Richard C Dorf and Robert H. Bishop.
ISBN: 0132270285. 2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved.

Selected Tables and Formulas for Design

vn2
A second-order R(s) Y(s)
s(s 2zvn)
closed-loop
system

UNIT STEP RESPONSE CLOSED-LOOP MAGNITUDE PLOT

Mpt Overshoot
ess
1.0 d

20 logT , dB
1.0
20 log MPv
y(t) 0.9
1.0 d 0
3

0.1
0 vr vB
Tp Ts Time 0
Tr1
Rise time Peak time Settling time

Settling time (to within 2% of the final value) Maximum magnitude (z 0.7)

4 1
Ts = Mpv =
zvn 2z 21 - z2

Percent overshoot
2 2
Mpt = 1 + e -zp/21 - z and P.O. = 100e -pz/21 - z

Time-to-peak Resonant frequency (z 0.7)

p vr = vn 21 - 2z2
Tp =
vn 21 - z2

Rise time (time to rise from 10% to Bandwidth (0.3 z 0.8)

90% of final value)
vB = ( -1.196z + 1.85)vn
2.16z + 0.60
Tr1 = (0.3 z 0.8)
vn

K1 (s + z1)(s + z2)
PID Controller: Gc(s) = K P + KD s + =
s s

TABLE PAGE
5.5 Summary of Steady-State Errors 298
5.6 The Optimum Coefficients of T(s) Based on the ITAE Criterion for a Step Input 308
5.7 The Optimum Coefficients of T(s) Based on the ITAE Criterion for a Ramp Input 312
10.2 Coefficients and Response Measures of a Deadbeat System 706
10.7 A Summary of the Characteristics of Phase-Lead and Phase-Lag Compensation Networks 729

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