Scribd
Upload
26 views2 pages

Equations Exam 421

This document provides equations and summaries for various topics in controls systems, including: 1) First-order systems equations for step and ramp responses as well as time constants. 2) Second-order system equations for step responses and damping ratio effects on poles. 3) Steady-state error equations relating error to system properties like poles and zeros. 4) Root locus equations for closed loop poles and gain calculations. 5) Root locus design procedures for choosing compensator poles and zeros. 6) Bode plot design procedures for choosing compensator gain and poles to meet phase and gain margins.

Uploaded by

hay123ran
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
26 views2 pages

Equations Exam 421

This document provides equations and summaries for various topics in controls systems, including: 1) First-order systems equations for step and ramp responses as well as time constants. 2) Second-order system equations for step responses and damping ratio effects on poles. 3) Steady-state error equations relating error to system properties like poles and zeros. 4) Root locus equations for closed loop poles and gain calculations. 5) Root locus design procedures for choosing compensator poles and zeros. 6) Bode plot design procedures for choosing compensator gain and poles to meet phase and gain margins.

Uploaded by

hay123ran
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 2

1

Equations for ECE 421, Final Exam


A. First-Order Systems
K
sp

IF G(s) =

AND H(s) = 1 THEN TCL (s) =

K
KT
K/ (K p)
K

=
=
=
1
s+K p
Ts + 1
s + 1/T
Kp s + 1

1
K
T ,
, cstep (t) =
1 et/T , Ts = 3.912T 4T, Tr = 2.197T 2.2T
K p
K p

K
cramp (t) =
t T + T et/T , e(t) = r(t) c(t), ess = lim [e(t)]
t
K p
B. Second-Order Systems
2n
s (s + 2 n )

IF G(s) =

AND H(s) = 1 THEN TCL (s) =

2
essramp =
n
q
2
1 THEN p1 , p2 = n n 1

s2

2n
2n
=
2
+ 2 n s + n
(s p1 ) (s p2 )

> 0 THEN essstep = 0,

IF
IF

..................................................................................................................

p2
p1
p1 t
IF > 1 THEN cstep (t) = 1 +
e
ep2 t
p1 p2
p1 p2
..................................................................................................................
5.835
n
..................................................................................................................
q
IF 0 < 1 THEN p1 , p2 = n j n 1 2
IF = 1 THEN cstep (t) = 1 en t ( n t + 1) ,

Ts =

Ts

q
en t
2
cstep (t) = 1 p

sin
(
t
+
)
,

= cos1 ()
d
d
n 1 ,
2
1
P O

ln
cmax (t) cf inal (t)
100
PO =
100% = e/ 1 100%, = q
O 2
cf inal (t)
2 + ln P100

4
,
n

Tp =

,
d

Tr (0 100%) =

,
d

Tr (10 90%)

1 + 1.1 + 1.4 2
n

OR

2.16 + 0.6
n

C. Steady-State Error
e () = ess = lim [e(t)] = lim [s E(s)]
t

s0

1 + G(s)H(s) G(s)
ess = lim s
R(s)
s0
1 + G(s)H(s)
..................................................................................................................
N +1q
s
A
,
s0 = 1
IF H(s) = 1 AND R(s) = q THEN ess = A lim N
s0 s + Kx
s
G(s) =

KN (s)
KN (s)
,
= N
D(s)
s D(s)

KN (0)
Kx = lim sN G(s) =
,
s0
D(0)

KError Constant = lim sq1 G(s)


s0

D. Root Locus

G(s)H(s) =

KN (s)
K (s z1 ) (s z2 ) (s zm )
=
=
D(s)
(s p1 ) (s p2 ) (s pn )

IF s = s1 is a closed-loop pole THEN

A =

180 (2l + 1)
,
nm

i=1
n
Q

i=1

(s zi )

(s pi )

|G (s1 ) H (s1 )| = 1 AND G (s1 ) H (s1 ) = 180 (2l + 1)

|G (s1 ) H (s1 )| = 1

m
Q

|K| =

|D (s1 )|
|N (s1 )|
A =

l = 0, 1, 2, . . . , n m 1

n
P

i=1

m
P

pi

zi

i=1

nm

[N (s)D0 (s) N 0 (s)D(s)]


dK
=0=
ds
N 2 (s)
#
"
n
m
n
m
X
X
X
X

d = 180 + 90 +
a = 180 90 +
pi
zi ,
pi
zi
i=3

i=1

i=1

i=3

E. Root Locus Design


Gc (s) =

Kc (s + zc )
,
(s + pc )

(s1 + zc ) =

s1 =

s1 + Gc (s1 )
,
2

4
Ts

1 + j tan cos1 ()

(s1 + pc ) =

s1 Gc (s1 )
2

Im (s1 )
Im (s1 )
|s1 + pc |
,
dpc =
,
Kc =
tan ( (s1 + zc ))
tan ( (s1 + pc ))
|s1 + zc | |Gp (s1 )|
..................................................................................................................
dzc =

g =

essactual
,
essspec

zcg =

|Re (s1 )|
,
100

pcg =

zcg
,
g

GcSpecLag =

(s + zcg )
(s + pcg )

F. Bode Plot Design

s

+1
Kc
Kc
(s + zc )
zc
=
Gc (s) =

,
s

(s + pc )
+1
pc
|G (j x )| = 1 0 db,

G (j ) = 180 ,

zc
,
pc

Kc =

P M = 180 + G (j x ) ,

essactual
essspec
GMdb = |G (j )|db

1 sin (max )
zcd
pcd =
,
zcd = xc d ,
1 + sin (max )
d


zcd + 1
1

at = max ,
db
= 10 log10 d
j

+
1
pcd

xc
zcg
zcg =
,
pcg =
g = |Kc Gp (j xc )|Abs Value = 10(|Kc Gp (jxc )|db )/20 ,
10
g

max = P Mspec + 10 P Muncomp ,

d =

You might also like