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Control Systems
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C(s) G(s)
Transfer function =
eu R(s) 1 + G(s)H(s)
Closed Loop:
1. As the error between the reference input and the output is continuously
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Transfer Function: The transfer function of an LTI system may be defined as the
ratio of Laplace transform of output to Laplace transform of input under the
assumption
Y(s)
G(s) =
X(s)
The transfer function is completely specified in terms of its poles and zeros and
the gain factor.
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Formula Notes (Control Systems) gradeup
p
G1 G2
2.. oving a
eu
summing point
after a block
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gr
3. Moving a
summing point
ahead of block
X1 X1 G X1 X1 G
4. Moving a take G G
off point after a
block
X1 1/G
X1
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Formula Notes (Control Systems) gradeup
X1 X 1G X1 X 1G
G G
5. Moving a take
off point ahead of
a block X 1G
X 1G G
6. Eliminating a X1 X2
feedback loop G
1GH
(GX1 ± X2 )
Signal Flow Graphs:
It is a graphical representation of control system.
Signal Flow Graph of Block Diagram:
p
eu
pk k
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Mason’s Gain Formula: Transfer function =
pk Path gain of k th forward path
1 – [Sum of all individual loops] + [Sum of gain products of two non-touching
loops] – [Sum of gain products of 3 non-touching loops] + ………..
gr
1 z
1(nT )
s z−1
1 Tz
nT
s2 (z − 1)2
1 z
e−anT
s+a z − e−aT
a z(1 − e−aT )
1 − e−anT
s(s + a) (z − 1)(z − e−aT )
a z[z(aT − 1 + e−aT ) + (1 − (1 + aT )e−aT )]
(anT − 1 + e−anT )/a
s2 (s+ a) a(z − 1)2 (z − e−aT )
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Formula Notes (Control Systems) gradeup
Laplace Transform:
Fourier Transform:
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Star Transform:
eu
Z Transform:
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Inverse Z Transform:
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Modified Z Transform:
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Formula Notes (Control Systems) gradeup
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«éçíæéð÷
Characteristic Equation:
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Formula Notes (Control Systems) gradeup
Time Response of 2nd order system :
Step i/P :
e− ζωn t �1−ζ2
• C(t) = 1- (sin ωn �1 − ζ2 t ± tan−1 � � )
�1−ζ2 ζ
e− ζωn t �1−ζ2
• e(t) = �sin 𝜔𝜔𝑑𝑑 𝑡𝑡 ± tan−1 � ��
�1−ζ2 ζ
e− ζωn t �1−ζ2
• ess = lim �sin 𝜔𝜔𝑑𝑑 𝑡𝑡 ± tan−1 � ��
𝑡𝑡→∞ �1−ζ2 ζ
e− ζωn t �1−ζ2
C(t) = 1- = Sin �𝜔𝜔𝑑𝑑 𝑡𝑡 ± tan−1 � ��
�1−ζ2 ζ
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ζ = 0 (un damped) :-
c(t) = 1- cos ωn t eu
ζ = 1 (Critically damped ) :-
C(t) = 1 - e−ωn t (1 + ωn t)
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ζ > 1 (over damped) :-
1
T=
�𝛇𝛇− �𝛇𝛇𝟐𝟐 −𝟏𝟏�ωn
Tundamped > Toverdamped > Tunderdamped > Tcriticaldamp
π−∅ �1−ζ2
• Rise time t r = ∅ = tan−1 � �
ωn �1−ζ2 ζ
nπ
• Peak time t p =
ωd
2
• Max over shoot % Mp = e−ζωn/�1−ζ × 100
• Settling time t s = 3T 5% tolerance
= 4T 2% tolerance
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Formula Notes (Control Systems) gradeup
1+0.7ζ
• Delay time t d =
ωn
(ln Mp )2
• Damping factor 2 ζ2 =
π + (ln Mp )2
2
2π
• Time period of oscillations T =
ωd
t ts ×ωd
• s
No of oscillations = 2π/ω = 2π
d
• t r ≈ 1.5 t d t r = 2.2 T
1 𝜔𝜔𝑛𝑛 > 𝜔𝜔𝑟𝑟
• Resonant peak Mr = ; ωr = ωn �1 − 2ζ2 � ωr < ωn < ωb
2ζ�1−ζ2 𝜔𝜔𝑏𝑏 >𝜔𝜔𝑛𝑛
• Bandwidth ωb = ωn (1 − 2ζ2 + �4𝜁𝜁 4 − 4𝜁𝜁 2 + 2)1/2
1
ess = (positional error) K p = lim 𝐺𝐺(𝑠𝑠) 𝐻𝐻(𝑠𝑠)
1+KP 𝑠𝑠→0
p
1
• Ramp i/p (t) : ess = K v = lim 𝑆𝑆 𝐺𝐺(𝑠𝑠)𝐻𝐻(𝑠𝑠)
Kv 𝑠𝑠→0
∂A/A
• Sensitivity S = sensitivity of A w.r.to K.
∂K/K
• Sensitivity of over all T/F w.r.t forward path T/F G(s) :
gr
Open loop: S =1
1
Closed loop : S=
1+G(s)H(s)
Stability RH Criterion :
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Formula Notes (Control Systems) gradeup
• If char. Equation contains either only odd/even terms indicates roots have no real part & posses only
imag parts there fore sustained oscillations in response.
• Row of all zeroes occur if
(a) Equation has at least one pair of real roots with equal image but opposite sign
(b) has one or more pair of imaginary roots
(c) has pair of complex conjugate roots forming symmetry about origin.
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General System Description:
eu
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Convolution Description:
State-Space Equations:
Transfer Matrix:
Mason's Rule:
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Formula Notes (Control Systems) gradeup
State-Space Methods:
1.General State Equation Solution:
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4. Impulse Response Matrix:
eu
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Root Locus:
The Magnitude Equation:
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Number of Asymptotes:
Angle of Asymptotes:
or
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