Characteristic equation

1 2 2
1 0
Second order systems
2
n n

Roots are
Step response
2
1,2 n n 1

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Homogeneous solution Transient response

Underdamped system 0 1 • For under-damped system, transient
yh t Ce nt
sin 1 2
t response is oscillatory
n
• Over-damped system does not oscillate
Critically damped system 1 but reaches correct output after a long
yh t C1e 1t C2te 2t time
• Critical damping
Overdamped system 1
yh t C1e 1t C2 e 2t

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Step Function Input Solution

0 1
• To determine
general behaviour y (t ) KA KAe nt
2 1/ 2
sin( n 1 2
t) cos( n 1 2
t)
(1 )
and speed at which
the system will 1
respond to change nt
y (t ) KA KA (1 t )e
in input n
NO need to
memorize for exam
1
nt 2 2
y (t ) KA KAe 2
sinh( n 1t ) cosh( n 1t )
( 1)1/ 2
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1
 Step input - Time response Step input - Time response
0 1 1
nt 2 2 nt
y (t ) KA KAe 2 1/ 2
sin( n 1 t) cos( n 1 t) y (t ) KA KA(1 n t )e
(1 )

1.0
0 0.25 0.5 1.2
2.5 1
2 0.8
y (t )
0.6
y (t ) 1.5 KA
0.4
KA 1
0.2
0.5
0
0 0 2 4 6 8 10 12 14
0 2 4 6 8 10 12 14 n t
nt , rad
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Step input - Time response

1

y (t ) KA KAe nt
sinh( 2
1t ) cosh( 2
1t)
Damping ratio
2 n n
( 1)1/ 2
• A damping ratio of 0.7 offers a good
1.5 2.0 3.0
1.2 compromise between rise time and
1 settling time. Most dynamic response
y (t )
0.8 measurement systems are designed
KA 0.6 such that the damping ratio is between
0.4 0.6 and 0.8
0.2
0
0 2 4 6 8 10 12 14
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Ringing frequency d Rise time

• For underdamped systems, the • The time required for a second order
transient response is oscillatory about system to first achieve a value within
the steady value and occurs with a 90% of the step response KA - y0
period 2
Td
d

2
d n 1
Free oscillation frequency of a system
displaced from its equilibrium
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2
 Settling time
• The time required for a measurement
system’s oscillations to settle within +/-
10% of the step response KA - y0
Problem:
• A measuring system has a natural
frequency of 0.5 rad/s, a damping ratio
of 0.5, and a static sensitivity of 0.5
m/V. If the initial reading was zero,
estimate its 90% rise time and settling
time when a signal of 2 V is applied

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Problem Solution
Get approximate t from graph and then modify
• An automobile weighing 2000 kg moves
down by 40 mm when loaded with 1000 m
Omegan
2000
11.07362
kg
rad/s
kg. Estimate the rise time of the Zeta 0.6
Omegad 8.858894 rad/s
system, if the damping ratio is 0.6. Zeta/sqrt(1-Zetasq) 0.75
t 0.212265 s
sin(Omegadt) 0.952444
cos(Omegadt) -0.30471
Zeta*sin(Omegant)/sqrt(1-Zetasq) 0.714333
e^(-zeta.Omegant) 0.244064
Zeta*sin(Omegant)/sqrt(1-Zetasq) 0.099974
y/KA 0.900026

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Problem
• Find the rise time, settling time and
damped natural frequency of the
second order system subject whose
response to a step input is shown in
next slide

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3
 Solution:
• Rise time = 3.8 ms
• Settling time = 9 ms
• d = 2 /Td = 2 /0.013 = 483.3 rad/s
Second order systems

Frequency Response

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