ENGI 5821 FORMULA SHEET FOR FINAL EXAM

Modeling
Laplace Transform:

The Laplace Transform Pair Table: f (t) (t) u(t) tu(t) tn u(t) eat u(t) (sin t)u(t) (cos t)u(t) F (s) 1
1 s 1 s2 n! sn+1 1 s+a s2 + 2 s s2 + 2

L{f (t)} = F (s) =

0

f (t)est dt

The Inverse Laplace Transform: 1 2j

+j

L1 {F (s)} =

F (s)est ds = f (t)u(t)
j

1. 2. 3. 4. 5. 6. 7.

Laplace Transform Theorems: 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. 12. LTI system: Transfer Function: dn c(t) dn1 c(t) an + a + + a0 c(t) = n 1 dtn dtn1 m m 1 d r(t) d r(t) bm + bm1 + + b0 r(t) m m dt dt 1 Electrical Components: v-i V (s) = Ri(s) V (s) = LsI (s) V (s) =
1 Cs I (s)

Theorem L{f (t)} = F (s) = 0 f (t)est dt L{kf (t)} = kF (s) L{f1 (t) + f2 (t)} = F1 (s) + F2 (s) L{eat f (t)} = F (s + a) L{f (t T )} = esT F (s) 1 s L{f (at)} = a F(a ) df L{ dt } = sF (s) f (0) 2 f 2 L{ d 2 } = s F (s) sf (0) f (0) dt n n d f L{ dtn } = sn F (s) k=1 snk f (k1) (0) t s) L{ 0 f ( )d } = F ( s f () = lims0 sF (s) f (0+) = lims sF (s)

Name Denition Linearity theorem Linearity theorem Frequency shift theorem Time shift theorem Scaling theorem Dierentiation Dierentiation Dierentiation Integration theorem Final value theorem Initial value theorem

Resistor Inductor Capacit.

i-v I (s) = I (s) =

1 RV

(s) (s)

Imped. R Ls
1 Cs

Admit.
1 R 1 Ls

1 Ls V

I (s) = CsV (s) V (s) I (s)

Cs

Z (s) =

Mechanical Components (Translational):

Mechanical Components (Rotational):

Gears:

Tdest =

Ndest Nsrc

ZM dest

DC Motors: Tm (s) = Kt Ia (s) Vb (s) = Kb sm (s)

Time Response
First-Order System G(s) = Second-Order System a s+a Tr = 2.2 a Ts = 4 a

G(s) =

2 n 2 s2 + 2n s + n

cos =

Tp =

n 1 2

Ts =

4 4 = n d

2 %OS = e(/ 1 ) 100

ln(%OS/100) 2 + ln2 (%OS/100)

Block Diagram Reduction

Stability
Example Routh Table for a4 s4 + a3 s3 + a2 s2 + a1 s + a0 : s4 s3

s2

a4 a3
a3

a4 a3 a2 a1 a1 b2 b2 0

= b1

a4 a3
a3

a2 a1 a0 0 0 0 0 0

= b2

a0 0 a4 0 a3 0
a3

=0 =0 =0

a3 b1
b1

= c1

a3 b1
b1

=0

a3 b1
b1

0 0 0 0

b1 c1
c1

= d1

b1 c1
c1

=0

b1 c1
c1

Steady-State Error
Steady-State Error for Unity Feedback Systems e() = lim sR(s) s0 1 + G(s) Kp = lim G(s)
s0

Kv = lim sG(s)
s0

Ka = lim s2 G(s)
s0

Root Locus
Vector Representation of Complex Functions F (s) = (s + z1 )(s + z2 ) (s + p1 )(s + p2 ) |F (s)| = |s + z1 ||s + z2 | |s + p1 ||s + p2 | F (s) = (s+z1 )+ (s+z2 )+ (s+p1 ) (s+p2 )

Denition of Root Locus Negative Feedback: |KG(s)H (s)| KG(s)H (s) = 1 (2k + 1)180o k = 0, 1, 2, 3, . . . o k = 0, 1, 2, 3, . . . Positive Feedback: |KG(s)H (s)| KG(s)H (s) = 1 2k 360 Behaviour at Innity Negative Feedback: a = Positive Feedback: a =
#nite

nite poles nite zeros poles#nite zeros

k2

a =

(2k+1) #nite

poles#nite zeros

#nite

poles#nite zeros

Design via Root Locus

Compensator PI s + zc s Lag s + zc s + pc PD Lead s + zc s + pc PID 1 Kp +Ki +Kd s s

Transfer function

K (s + zc )

Ziegler-Nichols
Controller P PI PID Kp T /L 0.9T /L 1.2T /L Ki 0 0.27T /L2 0.6T /L2 Kd 0 0 0.6T Controller P PI PID 4 Kp 0.5Kcr 0.45Kcr 0.6Kcr Ki 0 0.54Kcr /Pcr 1.2Kcr /Pcr Kd 0 0 0.075Kcr Pcr