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2019 Winter Final Cribsheet

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sethhains2039
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10 views1 page

2019 Winter Final Cribsheet

Uploaded by

sethhains2039
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Laplace functions Transform Properties Transfer function General Second-Order system Underdamped Second-Order Systems

f(t) = F(s)
G(s) = Output/Input
Impulse = C(s)/ R(s) G(s) Settling time
Step (=1) af(t) = aF(s) Linearity
Poles/Zeros Steady state error for negative Percent Overshoot
Ramp (= t) f1(t) + f2(t) = F1(s) + F2(s)
unity feedback

Linearization
Time to peak
A A/s Δx = x-x0
s ẋ = Δẋ
ẍ = Δẍ Conversion to Time to rise
f(3)(t) = s3F(s)-s2f(0)-sf'(0)-f''(0) ... Open loop
negative unity
f(x) = f(x0) + f'(x0)Δx feedback ζ = cosθ critical damping angle

First order system Steady state error Matrix Recap Matrix inverse
G(s) = a/(s+a) or 1/(s+a) lim sE(s), s -> 0
Time constant: Tc = 1/a
E(s) = R(s) - C(s)
Derivative recap
Time to rise: Tr = 2.2/a
Settling Time: Ts = 4/a matrix product
Step response: C(s) = R(s) G(s)
Steady state val.: lim sC(s), s -> 0 Eigenvalues:det( A - λI) = 0

Closed loop transfer function neg feedback Electricity, translation + rotation


Electrical Network Transfer Functions V(s) - (...) I(s) = 0
Impedance: Z(s) = V(s)/I(s) Admittance: Y(s) = 1/Z(s)
Transfer function -> State-Space Impedance equations:
Resistor: R, Capacitor: 1/(Cs), Inductor: Ls
ẋ = Ax+Bu and y = Cx + Du
s2Y(s) = ÿ Translational Mechanical System Transfer Functions
sY(s) = ẏ Element Law equations:
x1 = y, x2 = ẏ, x3 = ÿ Y(s) = y
Spring: F=kx, Viscous Damper: F=Cẋ, Mass: mẍ
ẋ1 = x2, ẋ2 = x3, ẋ3 = y ...
Admittance equations:
Spring: K, Viscous Damper: Cs, Mass: Ms2
Y(s)X(s) = F(s)
C D B
Routh-Hurwitz Criterion of characteristic eq. Rotational Systems Transfer Functions
M=J
Sn a1 ... a3 ...
Spring: K, Viscous Damper: Cs, Inertia: Js2
⋮ a2 ...
S0

Root locus characteristic equation State-space -> Transfer function

Root locus Poles and Zeros


Partial fraction expansion

Root locus asymptote location

Root locus asymptote angle

Proportional plus Derivative


Phase Lead Compensator
(PD) Compensator
Root locus break-away/break-in points

K = ... dK/ds = 0 Phase Lag Compensator


0 < p0 < z0 0 < z0 < p0
Root locus determine departure/arrival angle
PID Compensator

Proportional plus Integral (PI) Compensator

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