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Linear Systems Formula Sheet Continuous Time Homogeneous Solution yh (t): 1.

Set equal to zero and nd characteristic equation 2. Solve for roots

Daniel Townsend

Once you have the roots, there will be three dierent cases or any combination of the three: Real Roots (1 = . . . = n ) C1 e1 t + . . . + Cn en t Repeating Roots (1 = . . . = n )

More thorough descriptions on page 374.

3. Solve for the constants by using the identity yh (0 ) = y (i) (0 ) Impulse Response h(t)

1. Solve for h0 (t), which is basically like solving for yh (t) but with all initial conditions at 0+ and theyre all set to (n1) + zero except for h0 (0 ) = 1 (equation 7.41) 2. Replace f (t) on the right hand side with h0 (t) to get h(t)

(Note: if m is equal to n you will need to add an extra term of bn (t). This makes sense since when m = n with Laplace youd have to do long division.) Particular Solution yp (t): Since we assume that

you can either perform time domain convolution or multiply and perform inverse Laplace Higher Order Responses Since h(t) = yimpulse (t)

Some useful equations for integrating can be found in appendix B, since it can be tricky to integrate these signals Complete System Response

Useful Info
t

Da ni

Once you have yh (t) and yp (t), just add them together.

f ( )( )d =

f ( )( )d = f (0)

el T ow nse n
(C1 + C2 t + C3 t2 + . . . + Cn tn1 )e1 t
(i) t

Imaginary Roots (1 = = + j) 2 C1 et cos(t) + C2 et sin(t)

yp (t) = f (t) h(t) =

h( )f (t )d = L1 {H(s)F (s)}

ystep (t) =

h( )d

yramp =

ystep ( )d

Linear Systems Formula Sheet Discrete Time Homogeneous Solution yh [k]: 1. Set equal to zero and nd characteristic equation 2. Solve for roots

Daniel Townsend

Once you have the roots, there will be three dierent cases or any combination of the three: Real Roots (1 = . . . = n ) C1 (1 )k + . . . + Cn (n )k Repeating Roots (1 = . . . = n )

More thorough descriptions on page 375. Impulse Response h(t) 1. Replace f [k] with [k]

2. Determine New Initial Conditions by (a) Count n and m

(b) h[n m] = bm and for all initial conditions where their index is less than n m they are equal to zero. (c) Plug in f [k] = [k] and y[k] = h[k] into the dierence equation (d) Plug in values of k and solve for each initial condition. 3. Solve roots of characteristic equation to nd h[k]

4. Use initial conditions you determined to nd the value of the constants in h[k] Particular Solution yp [k] Equation 7.24 states that

Complete System Response y[k] 1. Determine h[k] 2. Find yp [k]

3. The given initial conditions are for y[k] where k 0. They need to be in terms of k < 0. Shift k and solve for an initial condition at each shift to get the appropriate initial conditions. 4. Find yh [k] with these initial conditions. 5. Add yp [k] and yh [k] to get y[k] Useful Info

Da ni

j = ej where =

el T ow nse n
(C1 +C2 k +C3 k 2 +. . .+Cn k n1 )(1 )k
k

Imaginary Roots (1 = = ej ) 2 C1 k cos[k] + C2 k sin[k]

yzs [k] = yp [k] = f [k] h[k] =

h[m]f [k m]

m=0

2 + 2 and = tan1

Linear Systems Formula Sheet Stability Continuous Time Internal Stability Stable a.k.a. Marginally Stable |yzi (t)| < M = constant < Distinct Re{i } 0 Asymptotically Stable
t

Daniel Townsend

Multiple Re{i } < 0

Discrete Time Internal Stability Stable a.k.a. Marginally Stable |yzi [k]| < M = constant < Distinct |i | 1 Multiple |i | < 1

Continuous BIBO Stability

1. Write out transfer function in Laplace domain

2. Find eigenvalues (denominator zeros, i ) and poles (numerator and denominator zeros, pi )

3. All i and pi must be real and less than zero (a.k.a. not be imaginary or touch the imaginary axis) Discrete BIBO Stability

1. Write out transfer function in Z-Domain

2. Find eigenvalues (denominator zeros, i ) and poles (numerator and denominator zeros, pi ) 3. If all i and pi are inside the unit circle, it is BIBO stable.

Da ni
3

el T ow nse n
t

lim {yzi (t)} 0

Both Re{i } < 0

If any distinct Re{i } > 0

If any multiple Re{i } 0

Asymptotically Stable
t

lim {yzi [k]} 0 Both |i | < 1

d
Unstable lim {yzi (t)} Unstable
t

lim {yzi [k]}

If any distinct |i | > 1

If any multiple |i | 1

Linear Systems Formula Sheet Feedback Notation: H(s) = N (s) = Open loop transfer function D(s)

Daniel Townsend M (s) = Closed loop transfer function

E(s) = Steady State Error = Ydesired output (s) Y (s) Constant Feedback G(s) = g (when g = 1 this is called unity feedback) Transfer Function: M (s) =

H(s) N (s) = 1 + G(s)H(s) D(s) + G(s)N (s)

System Output Sensitivity Function S(s) = 1 1 + G(s)H(s)

Transient Response of Second Order Systems M (s) =


2 Y (s) n = 2 2 F (s) s + 2n s + n

Where system damping ratio = = T = system time constant

Poles are obtained from p1,2 = n jd where system damped frequency = d = n 1 2 Under-damped Critically Damped

Complex Poles ( < 1)

Parameters Maximum % Overshoot:

el T ow nse n
Characteristic Equation: 1 + G(s)H(s) = 0 S (s) =
M (s) M (s)

System Sensitivity with respect to a variable = M (s) M (s)

K 1 2 , system natural frequency = n , n = , K = system static gain, and 2n T T

Multiple Real Poles ( = 1)

Distinct Real Poles ( > 1)

5% Settling Time: t5% s 3 n

2% Settling Time: t2% s 4 n

MPOS = e

1 2

Steady State Errors in Feedback Systems Position Constant


s0

Da ni
Kp = lim {G(s)H(s)} estep = ss 1 1 + Kp

Velocity Constant
s0

Acceleration Constant Ka = lim {s2 G(s)H(s)}


s0

Kv = lim {sG(s)H(s)}

Steady State Unit Step Error

Steady State Unit Ramp Error eramp = ss 1 Kv

Steady State Unit Parab. Error eparabolic = ss 2 Ka

d
D(s) + G(s)N (s) = 0 Over-damped Peak Time: tp = d

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