EE370 MT#2 Study

−b ± √ b2−4 ac
Quadratic formula: s=
2a
Damping: 2nd Order System: s2 +2 ∙ζ ∙ w n ∙ s +w n2=0

Roots: s1,2=−σ ± j∙ w d
Damping ratio: ζ
Damping Coefficient: σ =ζ ∙ wn
1 1
Time constant: τ = =
σ ζ ∙ wn

Damped Natural Frequency: w d =wn ∙ √1−ζ 2

wd w
Damping Angle: Φ=cos ( ζ )=tan
−1 −1
( )
σ
=tan −1 ( d )
ζ ∙ wn
Relative Stability: Is the distance into the left half of the cplx plane from the Im-axis to the nearest char.root or roots
(s+ a1 ) A Bs+C
Complex partial fraction expansion: In the form: F ( s ) = 2
= + 2
( s+ a2 ) ( s +a 3 ∙ s +a 4) s +a2 s + a3 ∙ s +a 4
Then solve for s: s+a 1=A ( s2 +a3 ∙ s +a4 ) + ( Bs+C ) ∙( s+a 2)

|Zeros|
Mag and Phase of Transfer Fcn, H(w): H ( w ) =
|Poles| ⟨( ℑ
(
ℑ
)
tan−1 ℜzeros −tan−1 ℜpoles
zeros poles
( ))
Y ( s)
Error Function: For a transfer function: T ( s ) =
R( s)
The transfer function error: T E ( s )=1−T ( s )

The error function: E ( s )=T E ( s ) ∙ R ( s )=( 1−T ( s ) ) ∙ R ( s )=R ( s )−Y ( s )

Finding the type of system: Look at E(s) and find how many s=0 roots in numerator. This tells the type of system.

s3 + s2 ( a2−b2 ) + s1 ( a1−b1 ) + ( a 0−b0 )

Generic form: T E ( s )=
a3 ∙ s 3 +a2 ∙ s 2+ a1 ∙ s +a0
Then for Type 1: a 0=b0
Type 2: a 0=b0 , a1=b1
Type 3: a 0=b0 , a1=b1 , a2=b 2
e(t ) =s ∙ E( s)
Finding Steady State Error: ¿
t→∞ s→0

Unity Feedback System: forward transmittance, G(S)

G(s) 1
The error signal: T E ( s )=1−T ( s )=1− =
1+G( s) 1+ G(s )

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Here the system type can be determined by the s=0 denominator roots of the transmittance, G(s).
N (s) 1 D ( s)
If G(s) is composed of polynomials: G ( s )= , Then T E ( s )= =
D( s) 1+G ( s ) D ( s ) + N ( s )

z 12 +w 2 s+ z 1
Also:
√ w 2
∙ sin ⁡(w ∙ t+ φ) LaPlace
↔ s 2 +w 2
Where: φ=tan
−1
( wz ) a
1

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