Unit Step:

R ( s )=

r ( t ) =A

A
s

A
2
s

Parabolic:

r ( t ) =A t

R ( s )=

2A
3
s

First order systems:

C (s)
1
=
R (s ) Ts+1

The closed-loop transfer function is

1)

C ( s )=

Unit-Step Response:

2)

1
1 1
R ( s )=
Ts+1
Ts+1 s

1
1
C ( s )=
c ( t )=1et / T , for t 0
s s+(1/T )

By partial fractions

1
1 1
R ( s )=
Ts+1
Ts+1 s 2
1 T
1
C ( s )= 2
c ( t )=tT T et / T , for t 0
s s s +(1 /T )
C ( s )=

Unit-Ramp Response:

By partial fractions

R ( s )=

r ( t ) =At

Ramp:

Second order systems:

The closed-loop transfer function

2n
2n
C (s)
= 2
=
R (s ) s +2 n s +2n (s+ n s+ j d )( s+ n s j d )
The behavior of the second-order system can be described in terms of

1.

Undamped case:

, n

2
n

C (s)
= 2 2
R (s ) (s + n)

=0

s 1 , s1= j n
2.

Underdamped case: 0 <

<1

C (s)
=
R (s ) (s + n s + j d )( s+ n s j d )
Critically damped case:

4.

Overdamped case:

cos
n : undamped natural freq.
= n : damping factor

s 1 , s1= j d

2n
C (s)
= 2
R (s ) s +2 n s+ 2n

=1

2n
C (s)
=
R (s ) (s + n s + d )(s + n s d )

>1

s 1 , s1= n
s 1 , s1= d

Definitions of Transient-Response Specifications:

Delay time

Td

Rise time

The time required for

the response to reach
half of its final value

Tr

Peak time

T p=

0 % to 100% of rise to
peak value

Mp

P.O. (w/damping)

Tp

n 1 2

Max overshoot
Settling time

For =2

Ts
,

n T s

e
M p=1+e / 1

Po=100 e / 1

<0.02
n T s 4
4
T s=
n

s ao a2 a4
4
s a1 a3 a5
s 3 b1 b2 b 3
Routh's Stability Criterion tells us whether or not there are unstable roots in a polynomial equation without actually solving2for them.
1.
Determine the characteristic equationput in polynomial formN.C. coeff > 0 all same sign
s k1 k2
s1 l1
s 0 m1

2
n

3.

: damping ratio

2.
3.

Arrange the coefficients of the polynomial in rows and columns according to the following pattern:
Special Cases:
-1st term in row is zero but remaining are not or there is no remaining replace zero with
If the sign of coeff above the

is same as below there are a pair of imaginary roots.

- If all coeff. in any row=0, aux. plynml w/ coeff of last row and by using the coefficients of the derivative of this polynomial in the next row.
Indicates roots of equal mag. lying radially opp in s plane, two real roots with equal mag. & opp. signs and/or two conjugate imag. roots.
4.

Relative Stability Analysis: we substitute s =

5.

= constant) into the characteristic equation, write the polynomial in terms of

and apply Routh's stability criterion to the new polynomial. This test reveals the number of roots that lie to the right of the vertical line s = .

Can determine the range of K for necessary stability.

Steady-State Errors.
Closed-loop T.F.:

T ( s )=

E ( s )=R ( s )C ( s )=

Steady-state error:

C (s )
G(s) H ( s)
=
R( s) 1+G( s)H (s)

where H(s)=1 & btw the e(t) and the input r(t) is

R(s)
1+ G ( s )

e ( t )= lim sE ( s )=lim
s0

s 0

sR(s)
1+G ( s )

e ss =lim
t

-steady-state error of the system for a unit-step input is

sR ( s ) ( 1T ( s ) ) ; where R ( s ) =

A
s

e ss =lim
s 0

- steady-state error of the system for a unit-ramp input is

s
A
A
e ss =
2
kv
s
sG() e ss =lim

sR ( s ) ( 1T ( s ) ) ; R ( s )=

s0

k v =lim
s 0