Department of Electronics and Communication Engineering

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 Control Systems

UNIT - II: Time Domain Analysis

Presentation By
RUPA KUMAR DHANAVATH
Asst. Professor
Department of ECE
 MLRITM CS – Unit II

 Presentation Outline

Time response of second order systems,

 Practice Problems.

RUPA KUMAR DHANAVATH@ Dept. of ECE 3

 MLRITM CS – Unit II

 Time Response of a Second Order System:

A general second-order system is shown below: C (s) G
T 
R( s) 1  G
wn2
C (s) s  s  2 wn 

R( s) wn2
1
s  s  2 wn 

n Un-damped natural frequency of C ( s) wn2

oscillations  2
 Damping factor or ratio R ( s ) s  2 wn s  wn2
1.8

1.6

1.4
The highest power of ‘s’ in the
1.2

1
denominator of above transfer
0.8 function is two, then this system is
said to be second order control
0.6

0.4

0.2

0
0 2 4 6 8 10
system.
RUPA KUMAR DHANAVATH@ Dept. of ECE 4
 MLRITM CS – Unit II

 Time Response of a Second Order System:

Damping ratio is defined as,

Actual damping

Critical damping

Case-1: If =0, un-damped system, the root are purely imaginary values.

Case-2: If =1, Critically damped, the root are purely real values.

Case-3: If  > 1, Over damped, the root are complex values.

Case-4: If 0 <  > 1, under damped, the root are complex conjugate values.

RUPA KUMAR DHANAVATH@ Dept. of ECE 5

 MLRITM CS – Unit II

 Time Response of a Second Order System:

The Transfer function of a second-order control system is given by,

C (s) wn2
 2
R( s) s  2 wn s  wn2
• The time response of any system is characterized by the roots of the
denominator polynomial r(s).

• The denominator polynomial (i.e., r(s)) is therefore called the characteristic

polynomial.

• Where r(s)=0 is called the characteristic equation.

• Roots of the characteristic equation are same as the poles of the system.
RUPA KUMAR DHANAVATH@ Dept. of ECE 6
 MLRITM CS – Unit II

 Time Response of a Second Order System:

Hence the characteristic equation of the second order system is,
ax  bx  c  0
2

s  2 wn s  w  0
2 2
n Where,
a  1, b  2 wn , c  wn2
But we know that, the two roots of the characteristic equation
are nothing but the of the poles of the system,

The two roots are, b  b 2  4ac

S1 , S 2 
2a

 2 wn   4 1  wn2 
2
2 wn 
S1 , S 2 
2 1

 wn    wn2 
2
2 wn  2
S1 , S 2 
2
RUPA KUMAR DHANAVATH@ Dept. of ECE 7
 MLRITM CS – Unit II

 Time Response of a Second Order System:

S1 , S 2   wn   2 wn2  wn2

S1 , S 2   wn  wn  2  1

S1   wn  wn  2  1 These two
ROOTs are
real and
and S 2   wn  wn  2  1 unequal.

 S1 , S 2   wn  wn  2  1  (1)
Where,  > 1, (for a over damped system), the roots or poles are real and distinct.

RUPA KUMAR DHANAVATH@ Dept. of ECE 8

 MLRITM CS – Unit II

 Time Response of a Second Order System:

S1 , S 2   wn  wn  2  1  (1)
If  > 1,(for a over damped system), the roots or poles are real and distinct.

If =0, S1 , S 2   jwn
For un-damped system, the roots or poles are purely imaginary values.

If =1, S1 , S 2   wn
For critically damped system, the roots or poles are purely real values.
If 0 <  > 1, S1 , S 2   wn  wn  2  1   wn  jwn 1   2

S1 , S 2   wn  jwd

Where, wd  wn 1  2

For under damped system, the roots or poles are complex conjugates.

RUPA KUMAR DHANAVATH@ Dept. of ECE 9

 MLRITM CS – Unit II

 Roots of Second Order System:

According the value of ξ , a second-order system can be classified into
one of the four categories,

Overdamped ( ξ >1) - the system poles are real and distinct.

jω
S1 , S 2   wn  wn  2  1  (1)

σ
-c -b -a

The response rises slowly and reaches the final value without any
oscillations.
RUPA KUMAR DHANAVATH@ Dept. of ECE 10
 MLRITM CS – Unit II

 Roots of Second Order System:

Critically damped (ξ= 1) - the system has two real but equal poles.

The two poles are, S1 , S 2   wn

jω

σ
-c -b
-ωn

The response rises slowly and reaches the final value without any oscillations

RUPA KUMAR DHANAVATH@ Dept. of ECE 11

 MLRITM CS – Unit II

 Roots of Second Order System:

Underdamped (0 < ξ <1) - the system has a pair of complex conjugate poles.

The two poles are, S1 , S 2   wn  jwd

jω

σ
-ξωn

The transient response is oscillatory.

RUPA KUMAR DHANAVATH@ Dept. of ECE 12

 MLRITM CS – Unit II

 Roots of Second Order System:

Undamped (ξ = 0) -the system has two imaginary poles.

The two poles are, S1 , S 2   jwn

jω

 jwn

δ
-c -b -a
 jwn

The system response is oscillatory.

RUPA KUMAR DHANAVATH@ Dept. of ECE 13

 MLRITM CS – Unit II

 Example-1:
• Determine the un-damped natural frequency and damping ratio of the
following second order system.

C( s ) 4
 2
R( s ) s  2s  4
Solution:
• Compare the numerator and denominator of the given transfer function with
the general 2nd order transfer function.
C( s )  n2
 2
R( s ) s  2 n s   n2

 n2  4   n  2 rad / sec  2 n s  2 s

  n  1
s 2
 2 n s   n2  s 2
 2s  4
  0 .5
Thus the system is said to be under damped system.
RUPA KUMAR DHANAVATH@ Dept. of ECE 14
 MLRITM CS – Unit II

 Example-2:
The closed loop transfer function of certain second order unity feedback system
is given below. Determine the type of damping in the system?

C (s) 4
 2
R( s) s 4
Solution:
Comparing the given transfer functions with the standard form of the
transfer function of a second order system.

C( s )  n2
 2
R( s ) s  2 n s   n2
  n  2 rad / sec  2 n s  0
 n2 4
 0
s 2  2 n s   n2  s 2  4  0
0 Hence, it is an un-damped system.
RUPA KUMAR DHANAVATH@ Dept. of ECE 15
 MLRITM CS – Unit II

 Example Problems:
Examples: Describe the nature of the second-order system response via
the value of the damping ratio for the systems with transfer function.

12
1. G ( s ) 
s 2  8s  12

16
2. G ( s)  Do them as your
s 2  8s  16
own revision
20
3. G ( s ) 
s 2  8s  20

RUPA KUMAR DHANAVATH@ Dept. of ECE 16

 MLRITM CS – Unit II

 Assignment Problems:

• For each of the transfer

functions find the locations
of the poles and zeros, plot
them on the s-plane, and
then write an expression for
the general form of the step
response without solving for
the inverse Laplace
transform.
• State the nature of each
response (that may be over
damped, under damped, and
so on).

RUPA KUMAR DHANAVATH@ Dept. of ECE 17

 MLRITM CS – Unit II

 End of the Session:

RUPA KUMAR DHANAVATH@ Dept. of ECE 18