Response of Second

Order System
Second-Order System

 The second-order system is the lowest-order system capable of an oscillatory

response to a step input. Typical examples are the spring-mass-damper system and
the electronic RLC circuit. Second-order systems with potential oscillatory
responses require two different and independent types of energy storage, such as
the inductor and the capacitor in RLC filters, or a spring and an inert mass. The
transfer function of the general second-order system has two poles in one of three
configurations: both poles can be real-valued and on the negative real axis, they
can form a double-pole on the negative real axis, or they can form a complex
conjugate pole pair.
 The unit step response depends on the roots of the characteristic equation. If both
roots are real-valued, the second-order system behaves like a chain of two first-
order systems, and the step response has two exponential components. If the roots
are complex, the step response is a harmonic oscillation with an exponentially
decaying amplitude.
Second order system response.
Im(s)

Underdamped
Unstable

Undamped
Overdamped or Critically damped
Re(s)

Underdamped
Overdamped system response

System transfer function :

Impulse response :

Step response :
Overdamped and critically
damped system response.
Overdamped and critically
damped system response.

Overdamped
Overdamped and critically
damped system response.

Overdamped
Overdamped and critically
damped system response.

Critically damped
Polar vs. Cartesian representations.
Polar vs. Cartesian representations.
System transfer function :

All 4 cases Unless overdamped

… Cartesian overdamped

Significance of the damping ratio :

Overdamped
Critically damped
Underdamped
Undamped
Polar vs. Cartesian representations.
System transfer function :

 … Cartesian overdamped

All 4 cases Unless overdamped

 Significance of the damping ratio :
 … Overdamped
 … Critically damped
 … Underdamped
 … Undamped
Polar vs. Cartesian representations.
System transfer function :

All 4 cases Unless overdamped

… Cartesian overdamped

Significance of the damping ratio :

… Overdamped Overdamped case:

… Critically damped
… Underdamped

… Undamped
Second order impulse response – Underdamped
and Undamped

Impulse response :
Second order impulse response – Underdamped and
Undamped
Increasing /
Fixed
Impulse Response
1

0.8

0.6

0.4

Amplitude
0.2

-0.2

-0.4
0 0.5 1 1.5 2 2.5 3
Time (sec)
Second order impulse response – Underdamped and
Undamped
Increasing /
Fixed
Impulse Response
1

0.8

0.6

0.4

Amplitude
0.2

-0.2

-0.4
0 0.5 1 1.5 2 2.5 3
Time (sec)
Second order impulse response – Underdamped and
Undamped
Increasing /
Fixed
Impulse Response
1

0.8

0.6

0.4

Amplitude
0.2

-0.2

-0.4
0 0.5 1 1.5 2 2.5 3
Time (sec)
Second order impulse response – Underdamped and
Undamped
Increasing /
Fixed
Impulse Response
1

0.8

0.6

0.4

Amplitude
0.2

-0.2

-0.4
0 0.5 1 1.5 2 2.5 3
Time (sec)
Second order impulse response – Underdamped and
Undamped
Increasing /
Fixed
Impulse Response
0.1

0.08

0.06

0.04

0.02

Amplitude
0

-0.02

-0.04

-0.06

-0.08

-0.1
0 0.5 1 1.5 2 2.5 3
Time (sec)
Second order impulse response – Underdamped and
Undamped
Increasing /
Fixed
Impulse Response
0.1

0.08

0.06

0.04

0.02

Amplitude
0

-0.02

-0.04

-0.06

-0.08

-0.1
0 0.5 1 1.5 2 2.5 3
Time (sec)
Second order impulse response – Underdamped and
Undamped
Increasing /
Fixed
Impulse Response
0.1

0.08

0.06

0.04

0.02

Amplitude
0

-0.02

-0.04

-0.06

-0.08

-0.1
0 0.5 1 1.5 2 2.5 3
Time (sec)
Second order impulse response – Underdamped and
Undamped
Increasing /
Fixed
Impulse Response
0.1

0.08

0.06

0.04

0.02

Amplitude
0

-0.02

-0.04

-0.06

-0.08

-0.1
0 0.5 1 1.5 2 2.5 3
Time (sec)
Second order impulse response – Underdamped and
Undamped
Increasing /
Fixed
Impulse Response
6

Amplitude
2

-1
0 0.5 1 1.5 2 2.5 3 3.5 4
Time (sec)

10

-5

-10
-6 -4 -2 0 2
Second order impulse response – Underdamped and
Undamped
Increasing /
Fixed
Impulse Response
6

Amplitude
2

-1
0 0.5 1 1.5 2 2.5 3 3.5 4
Time (sec)

10

-5

-10
-6 -4 -2 0 2
Second order impulse response – Underdamped and
Undamped
Increasing /
Fixed
Impulse Response
6

Amplitude
2

-1
0 0.5 1 1.5 2 2.5 3 3.5 4
Time (sec)

10

-5

-10
-6 -4 -2 0 2
Second order impulse response – Underdamped and
Undamped
Increasing /
Fixed
Impulse Response
6

Amplitude
2

-1
0 0.5 1 1.5 2 2.5 3 3.5 4
Time (sec)

10

-5

-10
-6 -4 -2 0 2
Second order impulse response – Underdamped and
Undamped
Increasing /
Fixed
Impulse Response
5

Amplitude
0

-1

-2

-3

-4
0 2 4 6 8 10 12
6
Time (sec)
4

-2

-4

-6
-5 0 5
Second order impulse response – Underdamped and
Undamped
Increasing /
Fixed
Impulse Response
5

Amplitude
0

-1

-2

-3

-4
0 2 4 6 8 10 12
6
Time (sec)
4

-2

-4

-6
-5 0 5
Second order impulse response – Underdamped and
Undamped
Increasing /
Fixed
Impulse Response
5

Amplitude
0

-1

-2

-3

-4
0 2 4 6 8 10 12
6
Time (sec)
4

-2

-4

-6
-5 0 5
Second order impulse response – Underdamped and
Undamped
Increasing /
Fixed
Impulse Response
5

Amplitude
0

-1

-2

-3

-4
0 2 4 6 8 10 12
6
Time (sec)
4

-2

-4

-6
-5 0 5
Second order step response – Underdamped and
Undamped 3 3 3 3

2 2 2 2

1 1 1 1
output
0 0 0 0

−10+j5 −2+j5
−1 −1 −1 +j5 −1
zeta=0.8944 zeta=0.3714 zeta=0 0.2+j5
−2 −2 −2 −2
0 5 0 5 0 5 0 5
time sec. time sec. time sec. time sec.

3 3
40
2 2
1.5 30

1 1 0.2+j0.5
20
output 1
0 −10+j0.5 0 10
−2+j0.5 +j0.5
zeta=0.998 zeta=0.97 0.5 zeta=0
−1 −1 0

−2 −2 0 −10
0 5 0 5 0 10 20 0 10 20
time sec. time sec. time sec. time sec.
Second order impulse response – Underdamped and
Undamped
Higher frequency oscillations

Faster response Slower response

Unstable
Lower frequency oscillations
Second order impulse response – Underdamped and
Undamped
Less damping

Unstable
More damping
Second order step response – Time
specifications.

1.4

1.2

0.8

0.6

0.4

0.2

0
0 0.5 1 1.5 2 2.5 3
Second order step response – Time specifications.
… Steady state value.
… Time to reach first peak (undamped or underdamped
only).
… % of in excess of .
… Time to reach and stay within 2% of
. .
1.4
… Time to rise from 10% to 90% of
1.2

0.8

0.6

0.4

0.2

0
0 0.5 1 1.5 2 2.5 3
Second order step response – Time
specifications.
… Steady state value.

More generally, if the numerator is not , but some :

Second order step response – Time specifications.
… Peak time.

Therefore,

is the time of the occurrence of the first peak :

Response to Step Force
“Forced vibration of damped, single degree of freedom, linear spring
mass systems”
Damping

 Underdamped - An underdamped response is one that oscillates within a decaying

envelope. The more underdamped the system, the more oscillations and longer it
takes to reach steady-state. Here damping ratio is always less than one.
 Critically damped - A critically damped response is that response that reaches the
steady-state value the fastest without being underdamped. It is related to critical
points in the sense that it straddles the boundary of underdamped and
overdamped responses. Here, the damping ratio is always equal to one. There
should be no oscillation about the steady-state value in the ideal case.
 Overdamped - An overdamped response is the response that does not oscillate
about the steady-state value but takes longer to reach steady-state than the
critically damped case. Here damping ratio is greater than one.
Damped Oscillation

 Damped oscillation is a typical transient response, where the output value

oscillates until finally reaching a steady-state value
Transient Response

 A Transient Response is the response of a system to a change from an

equilibrium or a steady state. The transient response is not necessarily tied to
abrupt events but to any event that affects the equilibrium of the system.
The impulse response and step response are transient responses to a specific
input (an impulse and a step, respectively).
Properties of Transient Response
 Transient response can be quantified with the following properties.
 Rise Time - refers to the time required for a signal to change from a specified
low value to a specified high value. Typically, these values are 10% and 90% of
the step height.
 Overshoot - is when a signal or function exceeds its target. It is often associated
with Ringing.
 Setting Time - is the time elapsed from the application of an ideal
instantaneous step input to the time at which the output has entered and
remained within a specified error band, the time after which the following
equality is satisfied:
 Where hst is the steady-state value, and E defines the width of the error band.
Properties of Transient Response

 Delay-time - The delay time is the time required for the response to initially
reach half the final value.
 Peak time - The peak time is the time required for the response to reach the
first peak of the overshoot.
 Steady State Error - Steady-state error is the difference between the desired
final output and the actual one when the system reaches a steady state, when
its behavior may be expected to continue if the system is undisturbed.
External Forcing

 Models the behavior of a system which has a time varying force acting on it.  An
example might be an offshore structure subjected to wave loading.
Equation of Motion for External Forcing

 Newton’s law of motion gives

 Rearrange and susbstitute for F(t)

 Check out our list of solutions to standard ODEs. We find that if we set

 our equation can be reduced to the form

Base Excitation

 models the behavior of a vibration isolation system.  The base of the spring is given a
prescribed motion, causing the mass to vibrate.  This system can be used to model a
vehicle suspension system, or the earthquake response of a structure.
Equation of Base Excitation

 Exactly the same approach works for this system. The free body diagram is
shown in the figure. Note that the force in the spring is now k(x-y) because
the length of the spring is Similarly, the rate of change of length of
the dashpot is d(x-y)/dt.
 Newton’s second law then tells us that
 Make the following substitutions

 and the equation reduces to the standard form

 Given the initial conditions

 and the base motion, we can look up the solution in our handy list of solutions
to ODEs.
Rotor Excitation

 models the effect of a rotating machine mounted on a flexible floor.  The crank with
small mass m0 rotates at constant angular velocity, causing the mass m to vibrate
Equation of Rotor Excitation

 we will derive the equation of motion for the third case. Free body diagrams
are shown below for both the rotor and the mass:
 Note that the horizontal acceleration of the mass m0 is:

 Hence, applying Newton’s second law in the horizontal direction for both masses:
 Add these two equations to eliminate H and rearrange

 To arrange this into standard form, make the following substitutions

 whereupon the equation of motion reduces to

 Finally, look at the picture to convince yourself that if the crank rotates with
angular velocity w, then

 Where Y0 is the length of the crank.

 The solution can once again be found in the list of solutions to ODEs.