Scribd
Upload
504 views2 pages

CN3121 Cheatsheet

1) The document discusses various mathematical models and concepts related to control systems including Laplace transforms, step responses of underdamped and overdamped systems, feedback stability, linearization of nonlinear models, empirical modeling, dynamics of first and second order processes, and tuning of proportional, integral and derivative controllers. 2) It also covers topics such as feedback controllers, series and parallel PID configurations, lead-lag compensation, frequency response analysis, Bode plots, and feedforward control design. 3) Various aspects of modeling and analyzing processes with time delays are presented including approximations and step responses.

Uploaded by

kenleeyw
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 DOCX, PDF, TXT or read online on Scribd
504 views2 pages

CN3121 Cheatsheet

1) The document discusses various mathematical models and concepts related to control systems including Laplace transforms, step responses of underdamped and overdamped systems, feedback stability, linearization of nonlinear models, empirical modeling, dynamics of first and second order processes, and tuning of proportional, integral and derivative controllers. 2) It also covers topics such as feedback controllers, series and parallel PID configurations, lead-lag compensation, frequency response analysis, Bode plots, and feedforward control design. 3) Various aspects of modeling and analyzing processes with time delays are presented including approximations and step responses.

Uploaded by

kenleeyw
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 DOCX, PDF, TXT or read online on Scribd
You are on page 1/ 2

LAPLACE TRANSFORMS Initial & Final Value Theorems

( ) ( ) ( ) ( )

Under-damped Step Response


( ) * ( Time of First Maximum | |

INVERSE RESPONSE
( ) )+ ( ) ( ( )( )( ( ) ( )( ( ) ) ) )

CLOSED-LOOP STABILITY TUNING RELATIONS

Provided process is stable, steady-state gain, ( ) [ ( ) ( )]

Linearization of Nonlinear Models


( ) ( ) |

( |

Overshoot (OS)

DEVELOPMENT OF EMPIRICAL MODELS FIRST ORDER DEAD TIME APPROXIMATION


( )

Decay Ratio (DR) Period of Oscillation

DYNAMICS OF 1ST & 2ND ORDER PROCESSES 1ST ORDER PROCESSES


( )

FEEDBACK CONTROLLERS Proportional Band IDEAL PID (PARALLEL)


( ) ( )

Step Response
( ) ( ) ( ( ) )

DYNAMICS OF MORE COMPLEX PROCESSES 1ST ORDER WITH TIME DELAY


( )

SERIES PID
( ) ( ( )( )( ) ) ( )

Cohen-Coon

Step Response Ramp Response


( ) ( ) ( ( ) ( ) ( ) ) ( ) ( )

2ND ORDER WITH TIME DELAY


( )(

( ) )
( )

INTEGRATING PROCESSES Step Response


( ) ( )

Step Response
( ) [ ]

GENERAL EXPRESSION FOR FEEDBACK CONTROL SYSTEMS P CONTROLLER 1st Order Step Response TUNING BY DIRECT SYNTHESIS

DEAD TIME APPROXIMATION Taylor Series

2ND ORDER PROCESSES


( ) ( )( )

1st Order Pade 1st Order Process 2nd Order Pade

( )

( )

Over-damped Step Response


( ) * ( )+ ( ) ( ) ] ( ) ( ) [ ( ( [ ( )(

LEAD-LAG ELEMENT (ZEROES)


( ) ( ) ( ) ( [ ) ) ) ] ] ) ]

PI CONTROLLER 1st Order Step Response


( )

2nd Order Process


[ ( ) ]

TUNING WITH DEAD TIME

Critically Damped Step Response


( ) [ ( )

( ( ( ) * ) +

( )

FREQUENCY RESPONSE ANALYSIS 1st Order Process


( ) ( ( ) )

RHP zero Inverse Response

Using Complex Numbers


( )

At low freq, behaves like PI. At high freq, behaves like PID. Similar to zero dynamics.

MARGINS Gain Margin

BODE PLOTS 1st Order Process

Phase Margin
( )

Integrating Process Process Zero


( ) ( ) ( )

FEEDFORWARD CONTROL DYNAMIC FF CONTROLLER DESIGN


In series, ARs multiply and phase angles add.

2nd Order Process


( [ At low freq, ARN 1, = 0 ( ) ) ( ] )

P Controller PI Controller
( ) ( )

PID Controller (Parallel)


( ) ( )

( ) ( )

Time Delay

You might also like