When your ripple is a lot lower than the supply voltage, here is a rule of thumb:
for a single diode rectifier: U = I/(100*C) with I in ampere, C in uF
for example 1A supply, 1000 uF cap, gives Upp = 1/100e-3= 10 Volts.
Use 60 for 60 Hz line systems.
for a bridge diode retifier: U = I/(50*C) with I in ampere, C in uF
for example 1A supply, 1000 uF cap, gives Upp = 1/50e-3= 5 Volts peak to peak.
Use 120 for 60 Hz line systems.
Note: it is only an approximation, does not include resistances etc.
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V(ripple)= V(rms) / V (DC)
This can only be done using a voltage regulator.
In a switching DC-DC voltage converter, the oscillatory nature of the switching circuit generates a small "ripple" effect in the output voltage which is supposed to be minimized via careful design of the overall circuit. The output current of this type of converter typically flows through a diode into the rest of the system. The voltage measured at the cathode of this diode will exhibit the aforementioned ripple.
Most true RMS voltmeters can measure the value of a ripple voltage on top of a DC supply, when you place it in AC mode. You can also place a small capacitor in series with a DC voltmeter and that would measure the ripple. The real way to do this, because ripple voltage is not sinusoidal, is to use an oscilloscope, particularly if you want the peak values.
In an ideal DC power supply, there is no ripple.