FORMULRIO GERAL

SISTEMAS DE CONTROLE DISCRETO

Variveis Complexas (definies)

Uma varivel complexa z = x + jy e uma funo complexa f ( z ) = u ( x, y ) + jv( x, y )
Condies de Cauchy-Rieman Gradiente de F (funo real)

u v u v F F G
= e = F = + j =2
x y y x x y z

Relaes Trigonomtricas e Integrais usuais

A+ B A B A+ B A B
sen ( A) + sen (B ) = 2 sen cos sen ( A) sen (B ) = 2 cos sen
2 2 2 2
A+ B A B A+ B B A
cos( A) + cos(B ) = 2 cos cos cos( A) cos (B ) = 2 sen sen
2 2 2 2
1 1
sen ( A)sen (B ) = [cos( A B ) cos( A + B )] cos( A)cos(B ) = [cos( A B ) + cos( A + B )]
2 2
1 cos( A B ) = cos( A) cos (B ) m sen( A)sen(B )
sen( A)cos(B ) = [sen( A B ) + sen( A + B )]
2
sen( A B ) = sen( A) cos (B ) cos ( A)sen(B ) cos( t )
sen ( t )dt =
sen ( t ) sen ( t ) t cos( t )
cos( t )dt = t sen( t )dt = 2


cos( t ) t sen ( t ) e
ax
1
t cos( t )dt = 2
+
xe
ax
dx = x
a a

Srie e Transformada de Fourier

Valor eficaz Potencia mdia (sobre resistor de 1 Ohm)
T
T 1
vef =
1
[v(t )]2 dt Pm = vef[ ] 2
=
T 0
[v(t )]2 dt
T 0

Srie Trigonomtrica Valor Mdio

1 T /2
f (t ) = a0 + a n cos( n 0 t ) + bn sen(n 0 t )
[ ] a
2 n =1
2
0 = 1
T f (t )dt

T / 2
Coeficientes de Fourier T/2
2
T T/ 2
2
T/2 an = f ( t ) cos(n0t )dt e
T T/ 2
bn = f ( t )sen(n0t )dt

Srie Complexa 1
T /2

f (t )e
jn 0 t
Cn = dt
f (t) = Cn e jn 0 t
e Cn = 1 (an jbn )
2
T T /2
n =

Transformada de Fourier (propriedades)


1
F( ) = f ( t) e
jt
dt f ( t) =
2
F( ) e jt d

[ ]
F f ( t - t 0 ) = e j t 0 F ( ) F[ f (-t )] = F * ( )
j t
[ ] 1 1
F f (t ) e 0 = F ( 0 ) F f (t )cos( pt ) =
2
F( + p ) + F( p )
2

d f
n
t 1
F n = ( j ) n F ( ) F f ( ) d = F ( ) + F ( 0 )( )
dt j
Convoluo F [ f ( t )* g( t )] = F ( )G( ) 1
F [ f ( t )g ( t )] =
F ( )* G( )
2
dF 1
F [tf (t )] = j TF do Degrau F [u( t ) ] = + ( )
d j
F [ ke j t ] = k 2 ( 0 )
0

Sistemas Contnuos
Sist 2a Ordem Forma cannica Resposta ao Impulso
2
d = n 1 2
G (s ) = n
,
s + 2 n s + n2
2
n
y (t ) = t
e n
sen ( d t )
2
1
Resposta ao degrau Razes:
n t
e s1, 2 = n j n 1 2
yu (t ) = 1 sen ( d t + )
1 2 = cos 1 ( )
TRANSFORMADA DE LAPLACE
A o A (s + )
[
L Ae t sen( o t ) = ] [
L Ae t cos( o t ) = ]
(s + )2 + o2 (s + )2 + o2
1 1 1 t
2
L1 = u (t ) , L1 2 = tu (t ) L1 3 = u (t )
s s s 2

Transformada Z

Z [ x( n k ) ] = z k X ( z)
X ( z ) = x(n ) z n
n=0

Z [x(n + 2 )] = z X ( z ) z 2 x (0 ) zx (1)
2
n
Z x( k ) =
z
X (z )
k =0 z 1
[
Z a n x(n ) = X a 1 z ] ( ) [ ] (
Z m x(n ) = 1 z 1 ) X (z )
m

m 1
lim[ X ( z ) ] = x ( 0) x ( ) = lim[( z 1) X ( z ) ]
[ ]
Z m x(n ) = ( z 1) X ( z ) z ( z 1)
m m j 1
j x(0 ) z z 1
j =0

dX ( z ) Asen(oT )z
Z [nx(n )] = z Z [ Asen(o nT )] =
dz z 2 cos(oT )z + 1
2

A z [z cos (oT )]
Z [ A cos (o nT )] = 2
z 2 cos (oT )z + 1
Formulrio do livro B P Lathi