IC6501 Control Systems Formula Sheet

First Order response to Step Input


1



 
  
 &  
  


Steady State Error (Closed loop system)

  lim 


1
 ! 

 
"

 "#$ "
 "%& #
1   

Final Value Theorem

lim '  lim " 



Second Order System

()



*+,
 ,

  2*+   *+,

Settling Time to within 2% of final Value

. 

*+

Time to first peak

.0 

+2345

Percentage Overshoot
% 78
 ## 

< >
4;
2345
=
100
:

Root Locus Asymptotes

Number

?#. #" A#B

 C ?#. #" D
#

Intersection

A#B
 C D
#
?#. #" A#B
 C ?#. #" D
#

Feedback Control System with Disturbance

d(s)
i(s)

3 

F

, 

O(s

 

, H
3 , 
G
1  3 , F 1  3 , F

Laplace Transforms
Laplace Transform

Time Function

Description
A unit Impulse

1


A unit step function

4(


A delayed unit step function

1 C
4(


A rectangular pulse of duration t

1
,

1


1
  ,

A unit slope ramp function

4I(

Exponential decay

4I(

2
  J

,
4I(


  

1 C
4I(


 ,   

Exponential growth

1 C
4I(


,
  ,

1 C
4I( C 
4I(

1
    K

4I( C
4L(
KC


  ,

K
    K

1
    K  &
,
,

1 C  
4I(

1C

K
K 4L(

4I( 

KC
KC

*
 *,

 *,

*+,

 ,  2*+  *+,
*+,

 ,  2*+  *+, 

$ U 1

4I(

4L(

4M(


K C & C  & C  C K  C &K C &
sin *

21 C ,

Sine wave

cos *

Cosine wave

4R( sin S*21 C ,  T

1C

21 C ,

4R( sin S*2V1 C , W  T

$  cos

Block Reduction Techniques

Transformation
Combing Block in
Series

Original Diagram
i(s)

i(s)

3 

Eliminating a
Feedback Loop

i(s

3 , 

i(s)

O(s)


1 X FY

i(s)

O(s)

3 G, 

i(s)

, 

i(s)
Removing a block
from a feedback
loop

O(s)



i(s)

1
F

F

O(s)

F

i(s)

3 

O(s)

i(s)

, 

3 
, 

O(s)

, 

i(s)



O(s)

i(s)



2(s)



O(s)

1(s)
2(s)

O(s)

1


2(s)

1(s)
Moving a summing
point to beyond a
block

i(s)

O(s

3 

Eliminating a feedforward loop

Moving a summing
block to in front of
a block

O(s)

F

i(s)

Removing a block
from the feedforward loop

, 



Equivalent Diagram




2(s)

O(s)

System Modelling Equations

Mechanical

Rotational
'  Z
'  [\
'  &8

.]

, 
 ,

.&




.  [
Fluid

Electrical
A  ^
_3 C _,  `

8


c




a3 C a,  b_

8
b

8d

Second Order Following Error

[2
*+

Quadratic Equation Roots

CK G K , C 4&
2
Ziegler-Nicholls Ultimate Cycle

P only
P+I
P+I+D

Kp
0.5 Kpc
0.45 Kpc
0.6 Kpc

Ki

Kd

Tc/1.2
Tc/2

Tc/8