ME 430/ECE 451 Equation Sheet

First Order systems: Root Locus Refinement:

a • Breakaway and break-in points: Find s val-

T (s) = 1
ues that maximize K = −1 G(s)H(s) .
s+a
Rise Time:
2.2 • jw-axis crossing: Form Routh Table (for
Tr =
a closed loop transfer function) and find gain
for obtaining a row of zeros. Form aux.
Settling Time:
equation using that gain and solve for s.
4.6
Ts = (1%)
a • Arrival and Departure Angles:
4 θzeros − θpoles = ±180◦
P P
Use :
Ts = (2%)
a
Steady State Error:
Second Order systems:
For closed loop transfer function T(s):
ωn2
T (s) = E(s) = X(s) − Y (s)
s2 + 2ζωn s + ωn2
Settling Time: = X(s)[1 − T (s)]
4.6
Ts = (1%)
ζωn Useful Numbers:
4.0
Ts = (2%) 5% overshoot leads to ζ ' 0.7
ζωn
3.0 16% overshoot leads to ζ ' 0.5
Ts = (5%)
ζωn
α = tan−1 ( √ ζ ) (for poles on s-plane)
Percent Overshoot: 1−ζ 2
√
2
%OS = 100 e−(πζ/ 1−ζ )
   
ln(0.05) − ln(0.05)
tan−1 ' −45◦ ; tan−1 ' 45◦
−ln(%OS/100)  π   π 
− ln(0.16)
ζ=p 2 tan−1 ln(0.16) ' −30◦ ; tan −1 ' 30◦
π + ln2 (%OS/100) π π

√
Rise Time: 182 = 324 √18 ' 4.2
1.64 222 = 484 √22 ' 4.7
Tr = (ζ = .5)
ωn 262 = 676 26 ' 5.1
1.86
Tr = (ζ = .6)
ωn 4 × 26 = 104 ; 9 × 26 = 234 ; 12 × 26 = 312
2.13
Tr = (ζ = .7) √ √ √
ωn 12 12 220
2 ' 1.73 ; 6 ' 0.58; 6 ' 2.47
Peak Time:
π ln(0.1) ' −2.3
Tp = p
ωn 1 − ζ 2 ln(0.9) ' −0.1