CONTROL ENGINEERING

TIME RESPONSE ANALYSIS

SECOND ORDER SYSTEM
Engr. Sarah Jane Bartolome| Instructor
 Second Order System
• Compared to the simplicity of a first-order system, a second-order system exhibits a wide
range of responses that must be analyzed and described.
• Varying a first-order system's parameter (T, K) simply changes the speed and offset of the
response

• Whereas, changes in the parameters of a second-order system can change the form of the
response.

• A second-order system can display characteristics much like a first-order system or,
depending on component values, display damped or pure oscillations for its transient response.

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 Introduction
• A general second-order system is characterized by the following transfer function.

𝜔𝑛! 𝐶(𝑠) 𝜔!"

𝑠 𝑠 + 2𝜁𝜔" = "
𝑅(𝑠) 𝑠 + 2𝜁𝜔! 𝑠 + 𝜔!"

𝜔! un-damped natural frequency of the second order

system, which is the frequency of oscillation of the
system without damping.

𝜁 damping ratio of the second order system, which is a

measure of the degree of resistance to change in the
system output.

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 Example 1
• Determine the un-damped natural frequency and damping ratio of the following second
order system.
𝐶(𝑠) 4
=
𝑅(𝑠) 𝑠 " + 2𝑠 + 4

• Compare the numerator and denominator of the given transfer function with the
general 2nd order transfer function.

𝐶(𝑠) 𝜔!"
=
𝑅(𝑠) 𝑠 " + 2𝜁𝜔! 𝑠 + 𝜔!"

𝜔!" = 4 ⇒ 𝜔! = 2
⇒ 2𝜁𝜔! 𝑠 = 2𝑠
𝑠 " + 2𝜁𝜔! 𝑠 + 𝜔!" = 𝑠 " + 2𝑠 + 4 ⇒ 𝜁𝜔! = 1
⇒ 𝜁 = 0.5

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 Example 2
• For the second order system described by the closed loop transfer function T(s),

𝐶(𝑠) 24 𝐶(𝑠) 6
= ! = !
𝑅(𝑠) 4𝑠 + 12𝑠 + 256 𝑅(𝑠) 𝑠 + 3𝑠 + 64

• Compare the numerator and denominator of the given transfer function with the
general 2nd order transfer function.
𝐶(𝑠) 𝜔!"
=
𝑅(𝑠) 𝑠 " + 2𝜁𝜔! 𝑠 + 𝜔!"

𝜔!" = 64 ⇒ 𝜔! = 8 ⇒ 2𝜁𝜔! 𝑠 = 3𝑠
⇒ 2𝜁𝜔! = 3
𝑠 " + 2𝜁𝜔! 𝑠 + 𝜔!" = 𝑠 " + 3𝑠 + 64
3
⇒𝜁= = 0.8
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 Introduction
𝐶(𝑠) 𝜔!"
= "
𝑅(𝑠) 𝑠 + 2𝜁𝜔! 𝑠 + 𝜔!"

• Two poles of the system are

−𝜔! 𝜁 + 𝜔! 𝜁 " − 1
−𝜔! 𝜁 − 𝜔! 𝜁 " − 1

•The two roots are imaginary when 𝜁 = 0 → Undamped System

•The two roots are real and equal when 𝜁 = 1 → Critically damped System
•The two roots are real but not equal when 𝜁 > 1 → Over damped System
•The two roots are complex conjugate when 0 < 𝜁 < 1 → Under damped System

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 Introduction
−𝜔! 𝜁 + 𝜔! 𝜁 " − 1
−𝜔! 𝜁 − 𝜔! 𝜁 " − 1

• According the value of 𝜁 , a second-order system can be set into one of the four
categories:

1. Overdamped
2. Underdamped
3. Undamped
4. Critically damped

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Steps to get the response (output) of the second
order system in the time domain.

1. Take Laplace transform of the input signal, r(t).

𝜔!"
2. Consider the equation, 𝐶(𝑠) = "
𝑠 + 2𝜁𝜔! 𝑠 + 𝜔!"
3. Substitute R(s) value in the above equation.

4. Do partial fractions of C(s) if required.

5. Apply inverse Laplace transform to C(s).

 Unit-Step Response of Second Order System
1. Over damped response (ζ >1)
- The two roots of the characteristics equation are real and distinct

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𝑇(𝑠) = "
𝑠 + 3𝑠 + 2
−𝜁𝜔" + 𝜔" 𝜁 ! − 1
2
𝐶(𝑠) =
𝑠(𝑠 " +3𝑠 + 2)

1 −2 1
𝐶 𝑠 = + +
𝑠 𝑠+1 𝑠+2
−𝜁𝜔" − 𝜔" 𝜁 ! − 1
𝐶 𝑡 = 𝐿#$ 𝐶 𝑠 = 1− 2𝑒 #% + 𝑒 #"% 𝑢 𝑡
 Unit-Step Response of Second Order System
2. Critically damped response (ζ = 1)
- The two roots of the characteristics equation are real and equal

5𝑠 + 4
𝑇(𝑠) = "
𝑠 + 4𝑠 + 4

5𝑠 + 4
𝐶(𝑠) =
𝑠(𝑠 " +4𝑠 + 4)
−𝜁𝜔"

1 −1 3
𝐶 𝑠 = + +
𝑠 𝑠+2 𝑠+2

𝐶 𝑡 = 𝐿#$ 𝐶 𝑠 = 1 − 𝑒 #"% + 3𝑡 𝑒 #"% 𝑢 𝑡

 Unit-Step Response of Second Order System
3. Under damped response (0 < ζ <1)
- The two roots of the characteristics equation are complex conjugate of on another

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𝑇(𝑠) = "
𝑠 + 2𝑠 + 4 𝑗𝜔" 1 − 𝜁 !
4
𝐶(𝑠) =
𝑠(𝑠 " +2𝑠 + 4)

1 −𝑠 − 2
𝐶 𝑠 = + " −𝑗𝜔" 1 − 𝜁 !
𝑠 𝑠 + 2𝑠 + 4

#$
1 "
#%&! 1 − 𝜁!
𝐶 𝑡 =𝐿 𝐶 𝑠 = 1− 𝑒 sin(𝜔' 𝑡 + θ) 𝑢 𝑡 ; 𝑤ℎ𝑒𝑟𝑒 𝜃=
1− 𝜁! 𝜁
 Unit-Step Response of Second Order System
4. Undamped response (ζ = 0)
- The two roots of the characteristics equation are imaginary poles

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𝑇(𝑠) = "
𝑠 +4

4 𝑗𝜔"
𝐶(𝑠) =
𝑠(𝑠 " +4)

1 −𝑠
𝐶 𝑠 = + "
𝑠 𝑠 + 42
−𝑗𝜔"
𝐶 𝑡 = 𝐿#$ 𝐶 𝑠 = 1 − sin(𝜔" 𝑡 )𝑢 𝑡
Damping ratio Poles Step response

when the system has two

Overdamped
real distinct poles (ζ >1)

when the system has two

Underdamped
complex conjugate poles
(0 < ζ <1)

when the system has two

Undamped
imaginary poles (ζ = 0)

when the system has two

Critically
real but equal poles
damped
(ζ = 1)
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TIME-DOMAIN
SPECIFICATION
 Time-Domain Specification
For 0< ζ <1 and ωn > 0, the 2nd order system’s response due to a unit step input is as follows.
Important timing characteristics: delay time, rise time, peak time, maximum overshoot, and
settling time.

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 Time-Domain Specification
Delay-Time (Td): The delay (𝑇& ) time is the time required for the response to reach half the
final value the very first time.

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 Time-Domain Specification
Rise-Time (Tr): The rise time is the time required for the response to rise from
• 10% to 90% of its final value, → over damped systems
• 5% to 95% of its final value, → Critical damped systems
• Or 0% to 100% of its final value, → under damped systems

𝜋−𝜃
𝑡' =
𝜔&

𝜔! 1 − 𝜁 "
𝜃 = tan#$
𝜁𝜔!

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 Time-Domain Specification
Peak Time (Tp): The peak time is the time required for the response to reach the first
(maximum) peak of the overshoot.

𝜋
𝑡A =
𝜔B

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 Time-Domain Specification
Maximum Overshoot (MP): is the maximum peak value of the response curve measured from
unity.
Maximum percent overshoot (P.O): is defined as follows:

(
# )
𝑀𝑃 = 𝑒 $#( "

𝑀*
𝑃. 𝑂 = 𝑥 100%
𝑓𝑖𝑛𝑎𝑙 𝑣𝑎𝑙𝑢𝑒

(
#
𝑃. 𝑂 = 𝑒 $#( " 𝑥 100%

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 Time-Domain Specification
The settling time (Ts): is the time required for the response curve to reach and stay within a
range about the final value of size specified by absolute percentage of the final value
(usually 2% or 5%).

Settling Time (2%)

4
𝑡C =
𝜁𝜔!
Settling Time (5%)

3
𝑡C =
𝜁𝜔!

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 Example 3
• For the control system shown below, determine k and a that satisfy the following requirements:
a) Maximum percentage overshoot P.O = 10%
b) The 5% settling time ts = 1 sec.

R(s) C(s)
𝑘 1
𝑠+𝑎 𝑠+2

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 Example 4
DE
• A unity feedback control system has an open loop transfer function 𝐺 𝑠 = . Find the rise
C(CF")
time, percentage overshoot, peak time and settling time for step input 12 units.

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 DE
• A unity feedback control system has an open loop transfer function 𝐺 𝑠 = . Find the rise
C(CF")
time, percentage overshoot, peak time and settling time for step input 12 units.
 Example 5
• Determine the nature of response of the given system below.

200
𝑠 ! + 10𝑠 + 200

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THANK
YOU!