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Formula Sheet Draft V2
Formula Sheet Draft V2
Formula Sheet Draft V2
C ( s) G( s)
1. Closed-loop transfer function:
R( s ) 1 G ( s ) H ( s )
H(s)
U ( s) U ( s) K i U ( s) 1
2. “P” control: K p ; “I” control: ; “PI” control: K p (1 );
E ( s) E (s) s E ( s) Ti s
U ( s) U ( s) 1
“PD” control: K p (1 Td s) ; “PID” control: K p (1 Td s) .
E ( s) E ( s) Ti s
C ( s) K n2 K
3. Standard second-order system: 2 2 , where 2
,
R( s) Js Bs K s 2 n s n2
n
J
B B
.
Bc 2 JK
State-space to Transfer Function:
5. You are supposed to know how to establish the Routh’s array of coefficients and use it to check the
system’s stability.
1
6. Static position error constant: K p lim G( s) ; ess ; Static velocity error constant: K v lim sG( s)
s 0 1 K p s 0
1 1
; ess ; Static acceleration error constant: K a lim s 2 G(s) ; ess .
Kv s 0 Ka
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Last Name: First Name: .
1 1 n!
7. Laplace transform pairs: (t ) 1 ; 1(t ) ; t ; tn ; sin(t ) ;
s s2 s n 1
s 2
2
s
cos(t ) 2 . Final value theorem: f () lim f (t ) lim sF (s) . Laplace transform properties:
s 2 t s 0
𝑑
𝐿± [𝑑𝑡 𝑓(𝑡)] = 𝑠𝐹(𝑠) − 𝑓(0± ).
Angle of arrival:
9. Lead, lag, lag-lead, and PID controller design using root-locus method:
1
s
Lead compensator Gc ( s ) K c T ( 0 1 );
1
s
T
1
s
Lag compensator Gc ( s ) K c T ( 1 );
1
s
T
1 1
s s
T1 T2
Lag-lead compensator Gc ( s ) K c ( 0 1 and 1 );
1 1
s s
T1 T2
PD controller GPD ( s) K p ( s z ) ;
sz
PI controller GPI ( s ) K p ;
s
( s z1 )s z2
PID controller GPID ( s ) K p .
s
𝑌(𝑗𝜔)
10. Frequency domain analysis: Sinusoidal transfer function𝐺(𝑗𝜔) = 𝑋(𝑗𝜔) = |𝐺(𝑗𝜔)|𝑒 𝑗∠𝐺(𝑗𝜔) . Bode
diagram: magnitude 20𝑙𝑜𝑔|𝐺(𝑗𝜔)|, phase ∠𝐺(𝑗𝜔). Assume the open-loop transfer function is given by
𝐾(𝑇 𝑗𝜔+1)(𝑇 𝑗𝜔+1)⋯(𝑇 𝑗𝜔+1) 𝐾
(𝑗𝜔) = (𝑗𝜔)𝑁𝑎(𝑇 𝑗𝜔+1)(𝑇
𝑏 𝑚
, when 𝜔 → 0, 𝐺(𝑗𝜔) = (𝑗𝜔)𝑁 ; when 𝜔 → +∞, 𝐺(𝑗𝜔) =
1 𝑗𝜔+1)⋯(𝑇2 𝑝 𝑗𝜔+1)
𝐾𝑇𝑎 𝑇𝑏 ⋯𝑇𝑚 1
. Nyquist stability criterion: 𝑍 = 𝑁 + 𝑃. Relative stability: gain margin 𝐾𝑔 = |𝐺(𝑗𝜔 where
𝑇1 𝑇2 ⋯𝑇𝑝 (𝑗𝜔)𝑁+𝑃−𝑚 1 )|
𝜔1 is the phase crossover frequency; phase margin 𝛾 = 180° + ∠𝐺(𝑗𝜔2 ), where 𝜔2 is the gain crossover
frequency.
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