−−−−−

⇒ s = −δωn ± ωn √δ 2 − 1

Response of Second Order System The two roots are imaginary when δ = 0.
The two roots are real and equal when δ = 1.

The two roots are real but not equal when δ > 1.

The two roots are complex conjugate when 0 < δ < 1.

We can write C(s) equation as,

In this chapter, let us discuss the time response of second order system. Consider the
ω2n
following block diagram of closed loop control system. Here, an open loop transfer C(s) = ( ) R(s)
function,
ω2n
is connected with a unity negative feedback.
s2 + 2δωn s + ω2n
s(s+2δωn )
Where,

C(s) is the Laplace transform of the output signal, c(t)

R(s) is the Laplace transform of the input signal, r(t)

ωn is the natural frequency

δ is the damping ratio.

Follow these steps to get the response (output) of the second order system in the time
We know that the transfer function of the closed loop control system having unity negative
domain.
feedback as

C(s) G(s) Take Laplace transform of the input signal, r(t).

=
R(s) 1 + G(s)
C(s) = ( s2 +2δω ) R(s)
ω2n
Consider the equation, 2
n s+ωn
ω2n
Substitute, G(s) = s(s+2δωn )
in the above equation.
Substitute R(s) value in the above equation.

( s(s+2δn ω ) ) Do partial fractions of C(s) if required.

ω2
C(s) n ω2n
= = Apply inverse Laplace transform to C(s).
1 + ( s(s+2δn ω ) ) s + 2δωn s + ω2n
2 2
R(s) ω
n

The power of ‘s’ is two in the denominator term. Hence, the above transfer function is of
the second order and the system is said to be the second order system.

The characteristic equation is -

s2 + 2δωn s + ω2n = 0

The roots of characteristic equation are -

−−−−−−−−−−−
−2ωδn ± √(2δωn )2 − 4ω2n −−−−−
−2(δωn ± ωn √δ 2 − 1)
s= =
2 2
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⇒ C(s) = (
ω2n
) R(s)
(s + ωn )2
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1
Substitute, R(s) = s
in the above equation.

Step Response of Second Order System ω2n 1 ω2n

C(s) = ( ) ( ) =
(s + ωn )2 s s(s + ωn )2
Consider the unit step signal as an input to the second order system.
Do partial fractions of C(s).
Laplace transform of the unit step signal is,
ω2n A B C
1 C(s) = = + +
R(s) = s(s + ωn )2 s s + ωn (s + ωn )2
s
We know the transfer function of the second order closed loop control system is, After simplifying, you will get the values of A, B and C as 1, −1 and − ωn respectively.
Substitute these values in the above partial fraction expansion of C(s).
C(s) ω2n
= 1 1 ωn
R(s) s2 + 2δωn s + ω2n C(s) = − −
s s + ωn (s + ωn )2
Case 1: δ = 0 Apply inverse Laplace transform on both the sides.

Substitute, δ = 0 in the transfer function. c(t) = (1 − e−ωn t − ωn te−ωn t )u(t)

C(s) ω2n So, the unit step response of the second order system will try to reach the step input in
=
R(s) s2 + ω2n steady state.

ω2n
⇒ C(s) = ( ) R(s) Case 3: 0 < δ < 1
s2 + ω2n
We can modify the denominator term of the transfer function as follows −
1
Substitute, R(s) = s
in the above equation.
s2 + 2δωn s + ω2n = {s2 + 2(s)(δωn ) + (δωn )2 } + ω2n − (δωn )2
ω2n 1 ω2n
C(s) = ( ) ( ) =
s2 + ω2n s s(s2 + ω2n ) = (s + δωn )2 + ω2n (1 − δ 2 )

Apply inverse Laplace transform on both the sides. The transfer function becomes,

c(t) = (1 − cos(ωn t)) u(t) C(s) ω2n

=
R(s) (s + δωn ) + ω2n (1 − δ 2 )
2
So, the unit step response of the second order system when /delta = 0 will be a
ω2n
⇒ C(s) = ( ) R(s)
continuous time signal with constant amplitude and frequency.
(s + δωn )2 + ω2n (1 − δ 2 )
Case 2: δ = 1 1
Substitute, R(s) = s
in the above equation.
Substitute, /delta = 1 in the transfer function.
ω2n 1 ω2n
C(s) ω2n C(s) = ( ) ( ) =
= (s + δωn )2 + ω2n (1 − δ 2 ) s s ((s + δωn )2 + ω2n (1 − δ 2 ))
R(s) s2 + 2ωn s + ω2n
Do partial fractions of C(s).
 ω2n A Bs + C The transfer function becomes,
C(s) = = +
s ((s + δωn )2 + ω2n (1 − δ 2 )) s (s + δωn )2 + ω2n (1 − δ 2 )
C(s) ω2n
=
After simplifying, you will get the values of A, B and C as 1, −1 and − 2δωn respectively. R(s) (s + δωn ) − ω2n (δ 2 − 1)
2

Substitute these values in the above partial fraction expansion of C(s).

ω2n
1 s + 2δωn ⇒ C(s) = ( ) R(s)
C(s) = − (s + δωn )2 − ω2n (δ 2 − 1)
s (s + δωn )2 + ω2n (1 − δ 2 ) 1
Substitute, R(s) = s
in the above equation.
1 s + δωn δωn
C(s) = − −
(s + δωn )2 + ω2n (1 − δ 2 ) (s + δωn )2 + ω2n (1 − δ 2 ) C(s) = ( ) ( 1s ) =
s ω2n ω2n
(s+δωn )2 −(ωn √δ 2 −1)2 s(s+δωn +ωn √δ 2 −1)(s+δωn −ωn √δ 2 −1)

( )
1 (s+δωn ) δ ωn √1−δ 2
C(s) = s
− 2 2 2
− Do partial fractions of C(s).
(s+δωn ) +(ωn √1−δ ) √1−δ 2
(s+δωn )2 +(ωn √1−δ 2 )2

−−−−− ω2n
Substitute, ωn √1 − δ 2 as ωd in the above equation. C(s) = −− −−− −−−−−
s(s + δωn + ωn √δ 2 − 1)(s + δωn − ωn √δ 2 − 1)
− −−−−− ( )
1 (s + δωn ) δ ωd
C(s) = − 2 A B C
s (s + δωn ) + ωd
2 √1 − δ 2 (s + δωn )2 + ω2d = + −− −−− + −−−−−
s s + δω n + ω n √ δ − 1
2 s + δω n − ω n √ δ 2 − 1
Apply inverse Laplace transform on both the sides. 1
After simplifying, you will get the values of A, B and C as 1, and
2(δ+√δ 2 −1)(√δ 2 −1)

c(t) = (1 − e−δωn t cos(ωd t) −

δ −δωn t −1
respectively. Substitute these values in above partial fraction expansion
−−−−− e sin(ωd t)) u(t) 2(δ−√δ 2 −1)(√δ 2 −1)
√1 − δ 2
of C(s).
e−δωn t −−−−−
c(t) = (1 − −−−−− ((√1 − δ 2 ) cos(ωd t) + δ sin(ωd t))) u(t) 1 1 1
√1 − δ 2 C(s) = + −− −−− −− −−− ( −−−−− )
s 2(δ + δ − 1)( δ − 1) s + δωn + ωn √δ 2 − 1
√ 2 √ 2
−−−−−
If √1 − δ 2 = sin(θ), then ‘δ’ will be cos(θ). Substitute these values in the above
−( −−−−− −−−−− ) (
1 1
equation. −−−−− )
2(δ − √δ 2 − 1)(√δ 2 − 1) s + δω n − ω n √ δ 2 − 1
e−δωn t
c(t) = (1 − −−−−− (sin(θ) cos(ωd t) + cos(θ) sin(ωd t))) u(t) Apply inverse Laplace transform on both the sides.
√1 − δ 2

e−δωn t c(t)
⇒ c(t) = (1 − ( −−−−− ) sin(ωd t + θ)) u(t)
= (1 + ( ) e−(δωn +ωn √δ −1)t
2
√1 − δ 2 1
2(δ+√δ 2 −1)(√δ 2 −1)
So, the unit step response of the second order system is having damped oscillations
−( ) e−(δωn −ωn √δ −1)t ) u(t)
2
1
(decreasing amplitude) when ‘δ’ lies between zero and one. 2 2
√ √
2(δ− δ −1)( δ −1)

Case 4: δ > 1 Since it is over damped, the unit step response of the second order system when δ > 1
will never reach step input in the steady state.
We can modify the denominator term of the transfer function as follows −

s2 + 2δωn s + ω2n = {s2 + 2(s)(δωn ) + (δωn )2 } + ω2n − (δωn )2

= (s + δωn )2 − ω2n (δ 2 − 1)
Impulse Response of Second Order System
The impulse response of the second order system can be obtained by using any one of
these two methods.

Follow the procedure involved while deriving step response by considering the
1
value of R(s) as 1 instead of s
.

Do the differentiation of the step response.

The following table shows the impulse response of the second order system for 4 cases of
the damping ratio.

Condition of Damping ratio Impulse response for t ≥ 0

δ=0 ωn sin(ωn t)

δ=1 ω2n te−ωn t

( ωn e ) sin(ωd t)
−δωn t
0<δ<1
√1−δ 2

( ) (e−(δωn −ωn √δ
ωn 2
−1)t
2√δ 2 −1
δ>1
)
2
− e−(δωn +ωn √δ −1)t