Exp.

No: 5 TIME RESPONSE OF SECOND ORDER SYSTEM

Aim:

To obtain the time response of a second order system for the applied test input.

Apparatus Required:

S.No Equipment Range Type Quantity

1 Decade inductance box - - 1
2 Decade resistance box - - 1
3 Breadboard - - 1
4 Capacitor 0.3µF - 1
5 Digital Storage Oscilloscope - - 1
6 Function Generator - - 1

Theory:

When the number of energy storage elements is two, then the system is called Second
order system. Every practical system needs a finite amount of time before attaining the actual
output. As before reaching the final values, the system undergoes oscillations due to which the
output fluctuates. This is the reason the overall time response of the control system is the
combination of steady-state response and transient response.

The standard transfer function of a second order control system is given by,
Y(s) n2
= (1)
R( s ) s 2 + 2n s + n2
where  and n are the damping ratio and natural frequency of the system, respectively.

Rearranging the Eqn. (1), the output of the system Y(s) is written as
n2
Y(s) = R( s) (2)
s 2 + 2n s + n2
For a unit-step input, the output response is given by

1 n2
Y(s) = (3)
s s 2 + 2n s + n2

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Circuit Diagram:

Fig.1 Second order system

Model Graph:

Fig. 2 Response of second order system

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for which the transient ouput y(t) is obtained as

e−nt
y (t ) = 1 − sin(d t +  ) (4)
1−  2

where d = n 1 −  2 and  = cos−1 ( ) .

The error of the signal of the response is given by e(t ) = r (t ) − c(t ) , and hence

e−nt
e(t ) = sin(d t +  ) (5)
1−  2
From the above expression, it is clear that the error of the signal is of oscillation type with
exponentially decaying magnitude when damping ratio   1 .The damped frequency of the
1
oscillation is d and the time constant of exponential decay is .
n
The time domain specifications are,

1. Rise Time (tr): Time required for the unit step response to rise from 0% to 100% of its
final value in case of underdamped system, or 10% to 90% of its final value in case of
over damped system.
2. Delay Time (td): Time required for the unit step response to reach 50% of its final value.
3. Peak Overshoot (Mp): The difference between the maximum peak and the steady state
value of this unit step response.
4. Peak Time (tp): Time at which maximum peak occurs.
5. Settling Time (ts): Time required for the unit step response to reach and stay within 2% or
5% of its steady state value.
6. Steady State Error: It is the difference between the input and the output of a system after
the natural response has finished.
7. DC Gain: The DC gain is the ratio of steady state step response to the magnitude of a step
signal.

The response of second order system for a step input will be different for different
damping ratio. The response of over damped system for a step input will be sluggish that is no
oscillations, where as critically damped system is faster than an overdamped but no oscillations
occur. The response of an overdamped system is fast and oscillations occur. The specification for
an overdamped system is as that of a first order system.

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Tabulation:

R C L tr tp td ts Mp
(Ω) (F) (H) (ms) (ms) (ms) (ms) (%)

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Procedure:

1. Construct the second order system as given in the circuit diagram.

2. Apply the square wave (for step-input) of 2Vpp, 5 Hz as input.
3. Obtain the time response of the system.
4. Change the resistance value and repeat step 2 & 3
5. Similarly, apply a triangular wave (for ramp input) of 2Vpp , 5Hz as input.
6. Obtain the response of the system.
7. Change the resistance value and repeat step 5 & 6.
8. Measure the delay time, rise time, peak time, settling time and calculate percentage peak
overshoot for all the above cases.

Formula:

1
Natural frequency, n = (1)
LC
R
Damping ratio,  = (2)
2n L
 −
Rise time, tr = (3)
d

Peak time, t p = (4)
d
tp
Delay time, td = (5)
10

 − 
Peak overshoot, M p =  e 
1− 2
(6)
 
 

Result:
Thus the time response of second order system is obtained for the applied test inputs.

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PRE LAB QUESTIONS

1. What will be the nature of response of second order system with different types of
damping?
2. Define the terms: damping ratio, Delay time, natural frequency, peak time and settling
time in second-order systems

3. How does the damping ratio (ζ) affect the second order system?

4. What is the relationship between the natural frequency (wn) and the settling time (ts) of an
underdamped second-order system?

5. Consider a system with the transfer functionG(s)=(s+6)/( Ks2+s+6). Its damping ratio
will be 0.5 Find the value of K.