Selected Tables and Formulas for Design — + Asecond-order my) ny closed-loop system UNITSTEP RESPONSE CLOSED-LOOP MAGNITUDE PLOT y 10 8 ve 09 t z ! z 04 t i t bral 7, Time Rie time Peak time Seng time Settling time (to within 2% of the final value) 2 Maximum magnitude (¢ < 0.7) uM, = —— -uMi-? Q Percent overshoot My, =1+e"TF | and | P.O. = 1000 VEE Q Time-to-peak Resonant frequency (¢ < 0.7) Rise time (time to rise from 10% to Bandwidth (03 = ¢ = 08) 90% of final value) og = (1.1966 + 1.85)o, (03 = £508) Ky +ayls+ PID Controller: | G.(s) = Kp + Kys + (e+ als + a) s TABLE PAGE 55 Summary of Steady-State Errors 305 56 The Optimum Coefficients of 7(s) Based on the ITAE Criterion fora Step Input 235 5.7 The Optimum Coefficients of 7(s) Based on the ITAE Criterion for a Ramp Input 339 7.6 Effect of Increasing the PID Gain, K, Kp, and K, on the Step Response 483 7.1 Ziegler-Nichols PID Tuning Using Ultimate Gain, Ky, and Oscillation Period, Py 488 78 _Zieglet-Nichols PID Tuning Using Reaction Curve Characterized by Time Delay, Ty and Reaction Rate, R 490 102 Coefficients and Response Measures of a Deadbeat System 782 10.7 A Summary of the Characteristics of Phase-Lead and Phase-Lag Compensation Networks 805,