IC6501 Control Systems Formula Sheet

R(s) +

G(s)

Sensitivity

C(s)

ST =

H(s)

Quotient Rule
Closed Loop Transfer Function

G
( N G / DG )
NG DH
=
=
1 GH 1 ( NG N H / DG DH ) DG DH N G N H

du
dv
v u
d u
dx
dx
=
2
dx v
v

Overshoot for Second-Order Systems

T ( s) =

System Type and Steady-State Error

K
Case 1
s 2 + 2n s + n2 (Fig. 5.8)

Type (n)
0
1
2
3

K ( s + a)
Case 2
T ( s) = 2
2 (Fig. 5.13)
s + 2n s + n
Time Constants/Settling Times
First Order System

= 1/ a
Ts = 4 = 4 / a
Second Order System

= 1/ n
Ts = 4 = 4 / n
Complex Roots

j = n j n 1 2
n = +
2

= /n
PID Controllers

GH ( s ) =

N ( s)
s n D (s)

Steady State System Error

Step
Ramp
Parabolic
finite

0
finite

0
0
finite
0
0
0

b0
Coefficients for ITAE Optimal T ( s ) =
n
n 1
s + bn 1s + L + b1s + b0
Performance (Step Input)
Order Form of Denominator
2
s 2 + 1.4 n s + n2
3
s 3 + 1.75 n s 2 + 2.15 n2 s + n3
4

s 4 + 2.1 n s3 + 3.4 n2 s2 + 2.7 n3 s + n4

s 5 + 2.8 n s4 + 5.0 n2 s3 + 5.5 n3 s2 + 3.4 n4 s + n5

s 6 + 3.25 n s5 + 6.60 n2 s 4 + 8.6 n3 s 3 + 7.45 n4 s 2 + 3.95 n5 s + n6

b1s + b0
Coefficients for ITAE Optimal T ( s ) =
n
n 1
Performance (Ramp Input)
s + bn1s + L + b1s + b0
Order
2

Form of Denominator
s 2 + 3.2 n s + n2

P Kp

s 3 + 1.75 n s 2 + 3.25 n2 s + n3

I KI / s

s 4 + 2.41 n s3 + 4.93n2 s 2 + 5.14 n3 s + n4

s 5 + 2.19 n s 4 + 6.5 n2 s 3 + 6.3 n3 s 2 + 5.24 n4 s + n5

D KD s
PID K p + K I / s + K D s