College of Electrical and Mechanical Engineering

Department of Electrical Engineering

EE-371 : Linear Control System

Lecture#07
(Time Response of Second Order Systems)
Chapter #02
Text Book: Control Systems Engineering by Norman S. Nise
6th Edition

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Example: RLC Circuit with DC input

 1 
V ( s )   Ls  R   I (s)
 Cs 
Vs I (s) 1 s
  2 RL 1
V ( s ) Ls  R  1 s  L s  LC
Cs

I (s) s
 2 RL 1
V ( s ) s  L s  LC R  R  1
2

s1      
Characteristic polynomial
2L  2 L  LC
2
R  R  1
s  s
2 R
L
1
LC 0 s2  
2L
   
 2 L  LC
Characteristic equations 2
Mechanical Example of IInd order
B K
X ( s) 1

F ( s) MS 2  BS  K Mass (M)

1
X ( s) M
 x(t)
F ( s) S 2  B S  K f(t)

M M

B K
S2  S  0 characteristic equation
M M

2
B  B  K
s1,2     
2M  2M  M

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 Four possible solutions of 2nd order
characteristic equations

1: Roots are Real and Distinct

2: Roots are Real and repeated
3: Roots are Complex
4: Roots are Imaginary

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Case 1: Roots are Real and Distinct

s1,2  1.146,  7.854

Over damped response:

Poles: two real poles S1 and S2.
Natural response: two exponentials
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Case 2: Roots are Real and repeated

s1,2  3,  3

Critically damped response:

Poles: two real poles at -3
Natural response: an exponential and product of time, t, and an
exponential
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Case 3: Roots are Complex
t
 8 
c(t )  1  e  cos 8 t  sin 8 t 
 8 
c(t )  1  1.06 e  t cos  8 t  19.47 o 

s1,2  1  j 8

s1,2  n  jn 1   2

Under damped response:
Poles: two complex poles at s1 and s2
Natural response: damped sinusoid
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Case 4: Roots are Imaginary

s1,2   j3

s1,2  n  jn 1   2

Undamped response:
Poles: two imaginary poles at s1, s2
Natural response: sustained oscillations at 3 rad/sec
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 The General Second-Order System
Natural Frequency, ωn
The natural frequency of a second-order system is the
frequency of oscillation of the system without damping.

Damping Ratio, ζ
Ratio of exponential decay frequency to the natural
frequency (Sinusoidal oscillation).

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 The General Second-Order System
Standard form of the II-order TF is given by: 2
a a
C (s) Kb s1,2       b
G( s)   2 2 2
R( s) s  as  b
s1,2  n  n   n2
2

C ( s) K n2
G( s)   2 s1,2  n  jn 1   2
R( s ) s  2n s  n2

The two quantities ζ and ωn can be used to describe the

characteristics of the second-order transient response just as
time constants describe the first-order system response.
n, the natural frequency , is the frequency of oscillation of the
2nd order system without damping
, the damping ratio, determines how fast the oscillations
decay to steady state value 10
TIME RESPONSE OF SECOND-
ORDER SYSTEM
 & n

>1 <1
s1  s 2 s    j n

=1
=0
s1  s 2  s

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 Second-Order System
• General form:
Kn2
G s  2
s  2n s  n2
Where,
K : Gain
ζ : Damping ratio
n : Undamped natural
frequency
• Roots of denominator:
s 2  2n s  n2  0

s1,2  n  n  2  1

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 Second-Order System
 Problem: For each of the transfer function, find the values of ζ
and n, as well as characterize the nature of the response.

Gs  
400
a)
s 2  12s  400

G s   2
900
b)
s  90s  900 Kn2
G s  2
s  2n s  n2
G s   2
225
c)
s  30s  225

Gs   2
625
d)
s  625

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 objectives
• Define transient specifications associated with
underdamped responses
• Relate these specifications to the pole location,
(i.e draw an association between pole location and
the form of second-order response)
• Tie the pole location to system parameters

Desired response generates required system

components.

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 Pole plot for the underdamped second-order system

n2
G( s)  2
s  2n s  n2

s1,2  n  jn 1   2

n   d
n 1   2  d

 d : the damping exp onential frequency

d : the damped frequency of oscillation
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 Second-order underdamped Response
Specifications
• Rise time, Tr
The time required for the waveform to go from 0.1 of the
final value to 0.9 of the final value.
• Peak time, Tp
The time required to reach the first, or maximum, peak.
• Percent overshoot, %OS
The amount that the waveform overshoots the final value,
expressed as a percentage of the final value
• Settling time, Ts
The time required for the transient's oscillations to reach
and stay within ±2% of the steady-state value.
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 18
Transient Response Specifications
C ( s) n2 1 n2 
 2 For step input C ( s )   2 
R( s) s  2n s  n2 s  s  2n s  n2 

c(t )  1 
1
1  2 
ent cos n 1   2 t   
To find the settling time, we must find
the time for which c(t) reaches and stays
within ±5% of the steady-state value.
(the time required for the amplitude of
the decaying sinusoid to reach 0.05)
1
ent  0.05
1  2
The numerator varies from 3.91 to 4.74 as ζ

Ts 

 ln 0.05 1   2  varies from 0 to 0.9
4 4
n  Ts  
n d
 18
Transient Response Specifications
C ( s) n2 1 n2 
 2 For step input C ( s )   2 
R( s) s  2n s  n2 s  s  2n s  n2 

cmax  c(Tp )  1  e

  / 1 2   cos    
sin    1 e

  / 1 2 
 1  2 
 

cmax  c final
%OS  100
c final

%OS  e

  / 1 2  100
Second-order underdamped responses for
damping ratio values

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