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    ME430 Final EqSheet

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    proverbs308
    This document provides equations and formulas for: 1) First order systems including rise time and settling time equations. 2) Second order systems including settling time, percent overshoot, and rise time equations. 3) Root locus refinement methods including breakaway/break-in points, jw-axis crossing, and arrival/departure angles. 4) Steady state error calculation for closed loop transfer functions. 5) Useful numbers for overshoot percentages corresponding to damping ratios and examples of applying equations.

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    ME430 Final EqSheet

    Uploaded by

    proverbs308
    36 views1 page
    This document provides equations and formulas for: 1) First order systems including rise time and settling time equations. 2) Second order systems including settling time, percent overshoot, and rise time equations. 3) Root locus refinement methods including breakaway/break-in points, jw-axis crossing, and arrival/departure angles. 4) Steady state error calculation for closed loop transfer functions. 5) Useful numbers for overshoot percentages corresponding to damping ratios and examples of applying equations.

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    This document provides equations and formulas for: 1) First order systems including rise time and settling time equations. 2) Second order systems including settling time, percent overshoot, and rise time equations. 3) Root locus refinement methods including breakaway/break-in points, jw-axis crossing, and arrival/departure angles. 4) Steady state error calculation for closed loop transfer functions. 5) Useful numbers for overshoot percentages corresponding to damping ratios and examples of applying equations.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    36 views1 page

    ME430 Final EqSheet

    Uploaded by

    proverbs308
    This document provides equations and formulas for: 1) First order systems including rise time and settling time equations. 2) Second order systems including settling time, percent overshoot, and rise time equations. 3) Root locus refinement methods including breakaway/break-in points, jw-axis crossing, and arrival/departure angles. 4) Steady state error calculation for closed loop transfer functions. 5) Useful numbers for overshoot percentages corresponding to damping ratios and examples of applying equations.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 1

    ME 430/ECE 451 Equation Sheet

    First Order systems: Root Locus Refinement:

    a • Breakaway and break-in points: Find s val-


    T (s) = 1
    ues that maximize K = −1 G(s)H(s) .
    s+a
    Rise Time:
    2.2 • jw-axis crossing: Form Routh Table (for
    Tr =
    a closed loop transfer function) and find gain
    for obtaining a row of zeros. Form aux.
    Settling Time:
    equation using that gain and solve for s.
    4.6
    Ts = (1%)
    a • Arrival and Departure Angles:
    4 θzeros − θpoles = ±180◦
    P P
    Use :
    Ts = (2%)
    a
    Steady State Error:
    Second Order systems:
    For closed loop transfer function T(s):
    ωn2
    T (s) = E(s) = X(s) − Y (s)
    s2 + 2ζωn s + ωn2
    Settling Time: = X(s)[1 − T (s)]
    4.6
    Ts = (1%)
    ζωn Useful Numbers:
    4.0
    Ts = (2%) 5% overshoot leads to ζ ' 0.7
    ζωn
    3.0 16% overshoot leads to ζ ' 0.5
    Ts = (5%)
    ζωn
    α = tan−1 ( √ ζ ) (for poles on s-plane)
    Percent Overshoot: 1−ζ 2
    √
    2
    %OS = 100 e−(πζ/ 1−ζ )
       
    ln(0.05) − ln(0.05)
    tan−1 ' −45◦ ; tan−1 ' 45◦
    −ln(%OS/100)  π   π 
    − ln(0.16)
    ζ=p 2 tan−1 ln(0.16) ' −30◦ ; tan −1 ' 30◦
    π + ln2 (%OS/100) π π

    √
    Rise Time: 182 = 324 √18 ' 4.2
    1.64 222 = 484 √22 ' 4.7
    Tr = (ζ = .5)
    ωn 262 = 676 26 ' 5.1
    1.86
    Tr = (ζ = .6)
    ωn 4 × 26 = 104 ; 9 × 26 = 234 ; 12 × 26 = 312
    2.13
    Tr = (ζ = .7) √ √ √
    ωn 12 12 220
    2 ' 1.73 ; 6 ' 0.58; 6 ' 2.47
    Peak Time:
    π ln(0.1) ' −2.3
    Tp = p
    ωn 1 − ζ 2 ln(0.9) ' −0.1

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