Common Formula Sheets

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C ( s) G( s)
1. Closed-loop transfer function: 
R( s ) 1  G ( s ) H ( s )

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

G(s)

H(s)

U ( s) U ( s) K i U ( s) 1
2. “P” control:  K p ; “I” control:  ; “PI” control:  K p (1  );
E ( s) E (s) s E ( s) Ti s
U ( s) U ( s) 1
“PD” control:  K p (1  Td s) ; “PID” control:  K p (1   Td s) .
E ( s) E ( s) Ti s

C ( s) K  n2 K
3. Standard second-order system:  2  2 , where  2
 ,
R( s) Js  Bs  K s  2 n s   n2
n
J
B B
  .
Bc 2 JK
State-space to Transfer Function:

Steady State Error from State-Space:

 
4. Second-order system transient response specifications to unit-step input: t r  where
d
1 2  1 2 )
d  n 1 2
and   tan 1 ( ) ,tp  , M p  e ( d )  e ( ; 2% Criterion:
 d
4 4 3 3
t s  4T   ; 5% Criterion: t s  3T   .
  n   n

5. You are supposed to know how to establish the Routh’s array of coefficients and use it to check the
system’s stability.

1
6. Static position error constant: K p  lim G( s) ; ess  ; Static velocity error constant: K v  lim sG( s)
s 0 1 K p s 0

1 1
; ess  ; Static acceleration error constant: K a  lim s 2 G(s) ; ess  .
Kv s 0 Ka
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1 1 n! 
7. Laplace transform pairs:  (t )  1 ; 1(t )  ; t ; tn  ; sin(t )  ;
s s2 s n 1
s 2
2

s
cos(t )  2 . Final value theorem: f ()  lim f (t )  lim sF (s) . Laplace transform properties:
s 2 t  s 0
𝑑
𝐿± [𝑑𝑡 𝑓(𝑡)] = 𝑠𝐹(𝑠) − 𝑓(0± ).

8. Root locus: magnitude condition Gc ( s)G p ( s) H ( s)  1 ; angular condition

 180o (2l  1)
Gc ( s)G p ( s) H ( s)  180o (2l  1) where l  0, 1, 2,  ; asymptote angles   ; intersection
n m
nm
( p )  ( z
i i )
point c 
i 1 i1
; break-in or break-away points can be derived from f ( s)  B( s)  KA( s)  0
nm
and B( s) A( s)  B( s) A( s)  0 . Angle of departure:

Angle of arrival:

9. Lead, lag, lag-lead, and PID controller design using root-locus method:
1
s
Lead compensator Gc ( s )  K c T ( 0    1 );
1
s
T
1
s
Lag compensator Gc ( s )  K c T (   1 );
1
s
T
1 1
s s
T1 T2
Lag-lead compensator Gc ( s )  K c ( 0    1 and   1 );
1 1
s s
T1 T2
PD controller GPD ( s)  K p ( s  z ) ;
sz
PI controller GPI ( s )  K p ;
s
( s  z1 )s  z2 
PID controller GPID ( s )  K p .
s
𝑌(𝑗𝜔)
10. Frequency domain analysis: Sinusoidal transfer function𝐺(𝑗𝜔) = 𝑋(𝑗𝜔) = |𝐺(𝑗𝜔)|𝑒 𝑗∠𝐺(𝑗𝜔) . Bode
diagram: magnitude 20𝑙𝑜𝑔|𝐺(𝑗𝜔)|, phase ∠𝐺(𝑗𝜔). Assume the open-loop transfer function is given by
𝐾(𝑇 𝑗𝜔+1)(𝑇 𝑗𝜔+1)⋯(𝑇 𝑗𝜔+1) 𝐾
(𝑗𝜔) = (𝑗𝜔)𝑁𝑎(𝑇 𝑗𝜔+1)(𝑇
𝑏 𝑚
, when 𝜔 → 0, 𝐺(𝑗𝜔) = (𝑗𝜔)𝑁 ; when 𝜔 → +∞, 𝐺(𝑗𝜔) =
1 𝑗𝜔+1)⋯(𝑇2 𝑝 𝑗𝜔+1)
𝐾𝑇𝑎 𝑇𝑏 ⋯𝑇𝑚 1
. Nyquist stability criterion: 𝑍 = 𝑁 + 𝑃. Relative stability: gain margin 𝐾𝑔 = |𝐺(𝑗𝜔 where
𝑇1 𝑇2 ⋯𝑇𝑝 (𝑗𝜔)𝑁+𝑃−𝑚 1 )|

𝜔1 is the phase crossover frequency; phase margin 𝛾 = 180° + ∠𝐺(𝑗𝜔2 ), where 𝜔2 is the gain crossover
frequency.
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