Response of Second order

systems
By
Dr. M.S.Rao

1
 Step response
• Transform of step is 1/s
• The step response transfer function is

• The quadratic terms can be factored into

• The transfer function can be written as

2
 Step response of under damped system

• Here is less than one

-1

• The response will be of the form

3
Step response of under damped system

4
 Step response of critically damped system

• Here is equal to one

• The response will be of the form

5
Step response of over damped system

• The response will be

• The hyperbolic functions are

6
Step response of over damped system

• This is similar to the system of tanks in

series

• Time constants are

• If time constants are same

– Damping coefficient becomes zero
7
Under damped system definitions

8
 Under damped system definitions
• Over shoot
– Measure of how much response exceeds ultimate
value
– Expresses as A/B

• Decay ratio
– Defined as ratio of successive peaks
– Expressed as C/A

9
 Under damped system definitions
• Rise time
– Time taken for the response to first reach its
ultimate value
• Response time
– Time required for response to reach with in
+_ 5% of ultimate value

10
 Under damped system definitions
• Period of oscillation

•
• Radian frequency
• Natural period of oscillation

11
 Under damped system definitions
• Natural frequency of oscillation
– Frequency of oscillation with damping
coefficient is zero
– The natural frequency is
– Cyclic frequency and period are
–

– Relation between natural actual frequency

–

12
 Impulse response
• This can be obtained by simply
– Multiplying with s is s domain
– Differentiating with respect to time in t domain
• For under damped system

• For critically damped system

• For over damped system

13
 Sinusoidal response
• The forcing function is

• The response function

• The response after factoring

14
 Sinusoidal response
• The response for all damping coefficients

• The first two terms gives at t inf.

• After evaluating constants C1 and C2

15
 Sinusoidal response
• The ratio of input and output amplitude
– It can be greater than or less than 1
– It depends on gita, tau and Wamega
• It is deferent compared to first order
system
•

16
 Conclusions
• Step input
• Impulse input
• Sinusoidal input

17
Thank you

18