ph_dorf_app 4/24/01 4:54 AM Page 1
Modern Control Systems, Eleventh Edition, by Richard C Dorf and Robert H. Bishop.
ISBN: 0132270285. © 2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved.
APPENDIX
C
Table C.1
Symbols, Units,
and Conversion Factors
Symbols and Units
Parameter or Variable Name
Symbol
SI
English
Acceleration, angular
a(t)
rad/s2
rad/s2
Acceleration, translational
a(t)
m/s2
ft/s2
Friction, rotational
b
Nm
rad>s
ft-lb
rad>s
Friction, translational
b
N
m>s
lb
ft>s
Inertia, rotational
J
Nm
rad>s2
rad>s2
Mass
M
kg
slugs
Position, rotational
u(t)
rad
rad
Position, translational
x(t)
m
ft
Speed, rotational
v(t)
rad/s
rad/s
Speed, translational
v(t)
m/s
ft/s
Torque
T(t)
Nm
ft-lb
ft-lb
This material is protected by Copyright and written permission should be obtained from the publisher prior to any prohibited reproduction, storage
in a
1
retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording, or likewise.
For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.
ph_dorf_app 4/24/01 4:54 AM Page 2
2
Modern Control Systems, Eleventh Edition, by Richard C Dorf and Robert H. Bishop.
ISBN: 0132270285. © 2008 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved.
Appendix C
Symbols, Units, and Conversion Factors
Table C.2
Conversion Factors
To Convert
Into
Multiply by
Btu
Btu
Btu/hr
Btu/hr
Btu/min
Btu/min
Btu/min
ft-lb
J
ft-lb/s
W
hp
kW
W
778.3
1054.8
0.2162
0.2931
0.02356
0.01757
17.57
cal
cm
cm
cm3
J
ft
in.
ft3
4.182
3.281 102
0.3937
3.531 105
deg (angle)
deg/s
dynes
dynes
dynes
rad
rpm
g
lb
N
0.01745
0.1667
1.020 103
2.248 106
105
ft/s
ft/s
ft-lb
ft-lb
ft-lb/min
ft-lb/s
ft-lb/s
ft-lb
rad>s
miles/hr
miles/min
g-cm
oz-in.
Btu/min
hp
kW
oz-in.
rpm
0.6818
0.01136
1.383 104
192
1.286 103
1.818 103
1.356 103
g
g
g-cm2
g-cm
g-cm
dynes
lb
oz-in2
oz-in.
ft-lb
980.7
2.205 103
5.468 103
1.389 102
1.235 105
hp
hp
hp
hp
Btu/min
ft-lb/min
ft-lb/s
W
42.44
33,000
550.0
745.7
in.
in.
meters
cm
2.540 102
2.540
J
J
J
J
Btu
ergs
ft-lb
W-hr
9.480 104
107
0.7376
2.778 104
20.11
kg
kg
To Convert
lb
slugs
Into
2.205
6.852 102
Multiply by
kW
kW
kW
Btu/min
ft-lb/min
hp
56.92
4.462 104
1.341
miles (statute)
mph
mph
mph
mils
mils
min (angles)
min (angles)
ft
ft/min
ft/s
m/s
cm
in.
deg
rad
5280
88
1.467
0.44704
2.540 103
0.001
0.01667
2.909 104
Nm
Nm
Nms
ft-lb
dyne-cm
W
0.73756
107
1.0
oz
oz-in.
oz-in2
oz-in.
oz-in.
g
dyne-cm
g-cm2
ft-lb
g-cm
28.349527
70,615.7
1.829 102
5.208 103
72.01
lb(force)
lb/ft3
lb-ft-s2
N
g/cm3
oz-in2
4.4482
0.01602
7.419 104
rad
rad
rad
rad/s
rad/s
rad/s
rpm
rpm
deg
min
s
deg/s
rpm
rps
deg/s
rad/s
57.30
3438
2.063 105
57.30
9.549
0.1592
6.0
0.1047
s (angle)
s (angle)
slugs (mass)
slug-ft2
deg
rad
kg
km2
2.778 104
4.848 106
14.594
1.3558
W
W
W
W
W
Wh
Btu/hr
Btu/min
ft-lb/min
hp
Nm/s
Btu
3.413
0.05688
44.27
1.341 103
1.0
3.413
gram (g), joule (J), watt (W), newton (N), watt-hour (Wh)
This material is protected by Copyright and written permission should be obtained from the publisher prior to any prohibited reproduction, storage in a
retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording, or likewise.
For information regarding permission(s), write to: Rights and Permissions Department, Pearson Education, Inc., Upper Saddle River, NJ 07458.