ME-339 Control Engineering

Part 6
Response of 2nd Order Systems
– Second Order Systems
• 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.
• Whereas varying a first order system’s parameter
simply changes the speed of the response,
changes in the parameters of a second order
system can change the form of the response. For
example, 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.
• The unit step response then can be found using
C(s) = R(s)G(s), where R(s) = 1/s, followed by a
partial-fraction expansion and the inverse Laplace
transform.
Figure continued…
…figure continued
• Overdamped response (Part b, poles are real and
distinct): The input pole at the origin generates the
constant forced response; each of the two system
poles on the real axis generates an exponential
natural response whose exponential frequency is
equal to the pole location.
Underdamped Response (Part c, poles are complex
conjugate): This response has a pole at the origin that comes
from the unit step input and two complex poles that come from
the system. the real part of the pole matches the exponential
decay frequency of the sinusoid’s amplitude, while the
imaginary part of the pole matches the frequency of the
sinusoidal oscillation
 For a general, damped sinusoidal response for a second order system, the
transient response consists of an exponentially decaying amplitude generated
by the real part of the system pole times a sinusoidal waveform generated by
the imaginary part of the system pole.

The time constant of the exponential decay is equal to the reciprocal of the real
part of the system pole. The value of the imaginary part is the actual frequency of
the sinusoid, as depicted in the figure. This sinusoidal frequency is given the name
damped frequency of oscillation, ωd.
Undamped Response
• The input pole at the origin generates the constant
forced response, and the two system poles on the
imaginary axis at ±j3 generate a sinusoidal natural
response whose frequency is equal to the location
of the imaginary poles.
Critically Damped Response (Part e, poles are real
and repeated): The input pole at the origin generates
the constant forced response, and the two poles on
the real axis at -3 generate a natural response
consisting of an exponential and an exponential
multiplied by time, where the exponential frequency
is equal to the location of the real poles.
• (Critically damped responses are the fastest
possible without the overshoot that is characteristic
of the underdamped response.)
– The General Second Order System
• We can generalize the discussion above and
establish quantitative specifications defined in such
a way that the response of a second order system
can be described to a designer without the need
for sketching the response.
• We can define two physically meaningful
specifications for second order systems. These
quantities can be used to describe the
characteristics of the second order transient
response just as time constant describes the first
order system response.
• These two quantities are called the natural
frequency and the damping ratio.
• Natural Frequency (ωn): The natural frequency of
a second order system is the frequency of
oscillation of the system without damping.
– For example, the frequency of oscillation of a
series RLC circuit with the resistance shorted
or a spring mass damper system without the
damper, would be the natural frequency.
• A second order system’s underdamped step
response is characterized by damped oscillations.
Our definition is derived from the need to
quantitatively describe this damped oscillation
regardless of the time scale.
• A viable definition for this quantity will be one that
compares the exponential decay frequency of the
envelope to the natural frequency. This ratio is
constant regardless of the time scale of the
response. Also, the reciprocal, which is
proportional to the ratio of the natural period to the
exponential time constant, remains the same
regardless of the time base
• Damping Ratio ( ζ ): We define damping ratio as

• Let us now revise our description of the second

order system to reflect the new definitions. The
general second order system can be transformed
to show the quantities ωn and ζ. Consider the
general system

• Without damping, the poles would be on the jω-

axis, and the response would be an undamped
sinusoid. For the poles to be purely imaginary, ɑ =
0.
• Hence,

• By definition, the natural frequency, ωn, is the

frequency of oscillation of this system. Since the
poles of this system are on the jω-axis at , so

and,
• Now what is the term ɑ as given in the transfer
function equation for a general second order
system?
• Assuming an underdamped system, the complex
poles have a real part, σ, equal to -ɑ/2. The
magnitude of this value is then the exponential
decay frequency as described earlier. Hence,

from which
• Our general second order transfer function finally
looks like this:

• Now that we have defined ωn and ζ, let us relate

these quantities to the pole location. Solving for the
poles of the above transfer function yields;

• From the above values of poles, we can see that

various cases of second order response are a
function of ζ.
• As the nature of the responses obtained is related
to the value of ζ, we can see that variations of
damping ratio alone yield the complete range of
overdamped, critically damped, underdamped, and
undamped response.
 Example#1
• Determine the un-damped natural frequency and damping
ratio of the following second order system.

• Compare the numerator and denominator of the given

transfer function with the general 2nd order transfer function.
 Time-Domain Specification
For 0< <1 and ωn > 0, the 2nd order system’s response
due to a unit step input looks like

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 Time-Domain Specification
• The delay (td) 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
• The rise time is the time required for the response to rise from
10% to 90%, 5% to 95%, or 0% to 100% of its final value.
• For underdamped second order systems, the 0% to 100% rise
time is normally used. For overdamped systems, the 10% to
90% rise time is commonly used.
 Time-Domain Specification
• The peak time is the time required for the response to
reach the first peak of the overshoot.

26
26
 Time-Domain Specification
The maximum overshoot is the maximum peak value of the
response curve measured from unity. If the final steady-
state value of the response differs from unity, then it is
common to use the maximum percent overshoot. It is
defined by

The amount of the maximum (percent) overshoot directly

indicates the relative stability of the system.

27
 Time-Domain Specification
• The settling time 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%).

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 Step Response of underdamped System

Step Response

• The partial fraction expansion of above equation is given as

 Step Response of underdamped System

• Above equation can be written as

• Where , is the frequency of transient

oscillations and is called damped natural frequency.
• The inverse Laplace transform of above equation can be
obtained easily if C(s) is written in the following form:
Step Response of underdamped System
 Step Response of underdamped System

• When
Step Response of underdamped System

1.8

1.6

1.4

1.2

0.8

0.6

0.4

0.2

0
0 2 4 6 8 10
Step Response of underdamped System

1.4

1.2

0.8

0.6

0.4

0.2

0
0 2 4 6 8 10
Step Response of underdamped System

1.4

1.2

0.8

0.6

0.4

0.2

0
0 2 4 6 8 10
Step Response of underdamped System

2
b=0
1.8 b=0.2
b=0.4
1.6
b=0.6
b=0.9
1.4

1.2

0.8

0.6

0.4

0.2

0
0 1 2 3 4 5 6 7 8 9 10
Step Response of underdamped System

1.4

1.2

0.8
wn=0.5
0.6 wn=1
wn=1.5
wn=2
0.4 wn=2.5

0.2

0
0 1 2 3 4 5 6 7 8 9 10
Time Domain Specifications of
Underdamped system
Time Domain Specifications (Rise Time)
Time Domain Specifications (Rise Time)
Time Domain Specifications (Rise Time)
 Time Domain Specifications (Peak Time)

• In order to find peak time let us differentiate above equation w.r.t

t.
Time Domain Specifications (Peak Time)
 Time Domain Specifications (Peak Time)

• Since for underdamped stable systems first peak is maximum

peak therefore,
Time Domain Specifications (Maximum Overshoot)
Time Domain Specifications (Maximum Overshoot)
Time Domain Specifications (Settling Time)

Real Part Imaginary Part

 Time Domain Specifications (Settling Time)
• Settling time (2%) criterion
• Time consumed in exponential decay up to 98% of the
input.

• Settling time (5%) criterion

• Time consumed in exponential decay up to 95% of the
input.
 Summary of Time Domain Specifications

Rise Time Peak Time

Settling Time (2%)

Maximum Overshoot

Settling Time (4%)

S-Plane
 S-Plane
• Natural Undamped Frequency.

jω
• Distance from the origin of
s-plane to pole is natural
undamped frequency in
rad/sec.
δ
 S-Plane
• Let us draw a circle of radius 3 in s-plane.

• If a pole is located anywhere on the circumference of the

circle the natural undamped frequency would be 3 rad/sec.

jω

-3 3
δ

-3
 S-Plane
• Therefore the s-plane is divided into Constant Natural
Undamped Frequency (ωn) Circles.

jω

δ
 S-Plane
• Damping ratio.

• Cosine of the angle jω

between vector connecting
origin and pole and –ve
real axis yields damping
ratio.
δ
 S-Plane
• For Underdamped system therefore,

jω

δ
 S-Plane
• For Undamped system therefore,

jω

δ
 S-Plane
• For overdamped and critically damped systems
therefore,

jω

δ
 S-Plane
• Draw a vector connecting origin of s-plane and some point
P.

jω
P

δ
 S-Plane
• Therefore, s-plane is divided into sections of constant
damping ratio lines.

jω

δ
 Example-2
• Determine the natural frequency and damping ratio of the poles
from the following pz-map.

Pole-Zero Map
1.5
0.91 0.84 0.74 0.6 0.42 0.22

0.96
1

0.99
Imaginary Axis (seconds -1)

0.5

4 3.5 3 2.5 2 1.5 1 0.5

0

-0.5
0.99

-1
0.96

0.91 0.84 0.74 0.6 0.42 0.22

-1.5
-4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0
Real Axis (seconds -1)
 Example-3

• Determine the natural Pole-Zero Map

3
3
frequency and damping ratio 0.7 0.56 0.42 0.28 0.14
2.5
of the poles from the given 2
2 0.82
pz-map. 1.5
0.91
1

)
• Also determine the transfer 1

-1
0.975 0.5
function of the system and
state whether system is 0

aginaryAxis(seconds
underdamped, overdamped, 0.975 0.5

undamped or critically -1
1
Im
0.91
damped. 1.5
-2 0.82
2

2.5
0.7 0.56 0.42 0.28 0.14
-3
-3 -2.5 -2 -1.5 -1 -0.5 30 0.5 1 1.5 2
Real Axis (seconds -1)
 Example-4
• The natural frequency of closed
loop poles of 2nd order system is Pole-Zero Map
3
2 rad/sec and damping ratio is 3
0.5 0.38 0.28 0.17 0.08 2.5
0.64
0.5. 2
2

1.5
0.8
1
1

• Determine the location of closed 0.94 0.5

Imaginary Axis
0
loop poles so that the damping 0.5
0.94
ratio remains same but the -1
0.8
1

natural undamped frequency is -2

1.5

doubled.
0.64
0.5 0.38 0.28 0.17 0.08 2.5
-3
-2 -1.5 -1 -0.5 30 0.5 1
Real Axis
 Example-4
Determine the location of closed loop poles so that the damping ratio remains
same but the natural undamped frequency is doubled.

Pole-Zero Map
5

4
0.5
3

1
4 2
aginaryAxis

-1
Im

-2

-3
0.5
-4

-5
-8 -6 -4 -2 0 2 4
Real Axis
 Example
• Consider the system where damping ratio is 0.6 and
natural undamped frequency is 5 rad/sec. Obtain the
rise time tr, peak time tp, maximum overshoot Mp, and
settling time 2% and 5% criterion ts when the system is
subjected to a unit-step input.
 Example
Rise Time Peak Time

Settling Time (2%) Maximum Overshoot

Settling Time (4%)

 Example#5
Rise Time
 Example#5
Peak Time
Settling Time (2%)

Settling Time (4%)

 Example#5
Maximum Overshoot
 Example
Step Response
1.4

1.2 Mp

0.8
Amplitude

0.6

0.4

Rise Time
0.2

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6
Time (sec)
 Example#6
• For the system shown in Figure-(a), determine the values of
gain K and velocity-feedback constant Kh so that the
maximum overshoot in the unit-step response is 0.2 and the
peak time is 1 sec. With these values of K and Kh, obtain the
rise time and settling time. Assume that J=1 kg-m2 and B=1
N-m/rad/sec.
Example#6
 Example#6

• Comparing above T.F with general 2nd order T.F

 Example#6

• Maximum overshoot is 0.2. • The peak time is 1 sec

Example#6
Example#6
 Example#7
When the system shown in Figure(a) is subjected to a unit-step
input, the system output responds as shown in Figure(b).
Determine the values of a and c from the response curve.
 Example#8
Figure (a) shows a mechanical vibratory system. When 2 lb of
force (step input) is applied to the system, the mass oscillates, as
shown in Figure (b). Determine m, b, and k of the system from
this response curve.
 Example#9
Given the system shown in following figure, find J and D to yield
20% overshoot and a settling time of 2 seconds for a step input of
torque T(t).
Example#9
Example#9
 Step Response of critically damped System
( )
Step Response

• The partial fraction expansion of above equation is given as