%OS = e − (ςπ / 1−ξ 2 )

× 100
π
Tp =
ωn 1 − ξ 2

TS =
(
− ln 0.02 1 − ξ 2 )≈ 4
ξωn ζωn

ζ = 0.115 (ωnTr ) − 0.883 (ωnTr ) + 2.504 (ωnTr ) − 1.73

3 2

ωnTr = 1.76ζ 3 − 0.417ζ 2 + 1.039ζ + 1

2.16ζ + 0.60
Tr ≈
ωn

xɺ = Ax + Bu
y = Cx + Du
Given initial condition (i.c.) x (0)
X ( s ) = ( sI − A ) x(0) + ( sI − A ) BU( s )
−1 −1

adj ( sI − A ) k l
Tr = 2.2/a
[x(0) + BU( s)]
K 0i Ki
= F (s) = ∑ +∑
det ( sI − A ) i =1 ( s − p0 ) i =1 ( s − pi )
i
Ts= 4/a
Y (s) 1 d k −i
T (s) = = C( sI − A ) −1 B + D K 0i = ( s − p0 ) k F ( s ) s = p
U (s) (k − i )! ds k −i 0
G ( s) =
C (s)
=
∑ T∆
k k k

R(s) ∆

K p = lim G ( s )
s →0

K v = lim sG ( s )
s →0

K a = lim s 2G ( s )
s →0

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