1.

SECOND ORDER SYSTEM TIME

RESPONSE
 1.1 Introduction
The output of control system for an input that varies
with respect to time, called the time response of the
control system. The time response consists of two
parts.
• Transient response, ctr(t).
• Steady state response, css(t).
1.2 Transient Response
After applying input to the control system, output takes
certain time to reach steady state. So, the output will be
in transient state till it goes to a steady state. Therefore,
the response of the control system during the transient
state is known as transient response.
1.3 Steady state Response
The part of the time response that remains even after
the transient response has zero value for large values of
‘t’ is known as steady state response. This means, the
transient response will be zero even during the steady
state.
1.4 Standard Test Input Signals
The standard test signals are impulse, step, and ramp.
These signals are used to know the performance of the
control systems using time response of the output.
1.4.1 Unit Impulse Signal
A unit impulse signal, δ(t) is defined as u(t) = δ(t), In the
s domain, U(s) = 1.
As shown in Figure 1.2, the unit impulse signal exists
only at ‘t’ equal to zero. The value of unit impulse signal
is zero for all other values of ‘t’.

Figure 1.2: Unit impulse signal

1.4.2 Unit Step Signal
A unit step signal, u(t) is defined as: u(t) = 1 for t≥0, In
the s domain, U(s) = 1/s .
As shown in Figure 1.3, the unit step signal exists for
all positive values of ‘t’ including zero. The value of
unit step signal is zero for all negative values of ‘t’.

Figure 1.3: Unit step signal

1.4.3 Unit Ramp Signal
A unit ramp signal, r(t) is defined as: r(t) = t for t ≥ 0, In
૚
the s domain, U(s) ࢙૛ .
=
As shown in Figure 1.4, the unit ramp signal exists for
all positive values of ‘t’ including zero. And its value
increases linearly with respect to ‘t’ during this
interval. The value of unit ramp signal is zero for all
negative values of ‘t’.

Figure 1.4: Unit ramp signal

 1.6 Response Analysis of Second-Order Systems
Control systems are often designed so that the
. controlled process responds as an under-damped
second-order system. Consider the block diagram of
closed loop control system shown in Figure 1.5. Here, an
open loop transfer function, ωn2/s(s+2ξωn) is connected
with a unity negative feedback.

Figure 1.5: Second order Closed-loop control system

We know that the transfer function of the closed loop
control system having unity negative feedback as
C(s) G(s)
R(s) 1+G(s)
=

Substitute, G(s)=s(s+2ξωn) in the above equation:

C(s) ߱ ݊2
R(s) s (s+2ξω n )+ ߱ ݊2
=

C(s) ߱ ݊2
R(s) s 2 + 2ξω n s+ ߱ ݊2
=

The characteristic equation is :

s 2 + 2ξωn s + ߱݊2
The roots of characteristic equation are:

−2ξω n ±ට(2ξω n )2 −4߱ ݊2 −2ξω n ±ω n ඥξ 2 −

2 2
S1,2 = =

S1,2 = −ξωn ± ωn ඥξ2 − 1

S1 = −ξωn − ωn ඥξ2 − 1 , S2 = −ξωn + ωn ඥξ2 − 1

There are 3 cases::

- Case 1: ξ = 1, Two equal roots, s1=s2= , (Critically damped)
- Case 2: ξ > 1: Two unequal real roots, (Over damped case).
- Case 3: 0 < ξ < 1, Two complex roots, (Under damped).
1.6.1 Unit step response of second-order system
1.6.1.1 Critically damped (ξ = 1)
1
• Two equal poles: s1 = s2 = - ξωn
• For a unit-step input R(s) =‫ ݏ‬, the output is:
߱ ݊2
s(s+ ω n )2
C(s) =
• Expanding Y(s) into partial fractions:
C(s) = = + +
‫ܣ‬ ‫ܤ‬ C
‫ݏ‬ s+ ω n (s+ ω n )2

C(s) = = − −
1 1 ωn
‫ݏ‬ s+ ω n (s+ ω n )2

c(t) = 1 − ݁ −ω n t − ωn t݁ −ω n t
• Taking the inverse Laplace transform:

= 1 − ݁ −ω n t (1 + ωn t)
Figure 1.6 shows critically damped response to the unit
step response of the second order system of Figure 1.5.

Figure 1.6: Critically damped response

Exercise: A system has the following transfer function:

1
s 2 + 8s+16
C(s) =

What is the state of damping of the system when it is

subjected to a unit-step input? Determine the
natural frequency of the system.
1.6.1.2 Over damped (ξ > 1)
• The transfer function of second order system:
‫)ݏ(ܥ‬ ߱ ݊2
R(s) (s− s 1 )(s− s 2 )
=

• Two poles in the s – plane:

S1 = −ξωn − ωn ඥξ2 − 1

, S2 = −ξωn + ωn ඥξ2 − 1

߱݊2
• Factoring the denominator of the transfer function:

ቀ‫ ݏ‬+ ξωn + ωn ඥߦ 2 − 1ቁቀ‫ ݏ‬+ ξωn − ωn ඥߦ 2 − 1ቁ

• For a unit-step input, the output is:

‫= )ݏ(ܥ‬
߱ ݊2
s(s− s 1 )(s− s 2 )

• Expanding Y(s) into partial fractions:

߱ ݊2 ‫ܣ‬ ‫ܤ‬ ‫ܥ‬

s(s− s 1 )(s− s 2 ) s (s− s 1 ) (s− s 2 )
C(s) = = + +

• After simplifying you will get the values of A, B and C.

• Taking the inverse Laplace transform:
C(t) = A + B݁ ‫ݏ‬1 ‫ ݐ‬+ C݁ ‫ݏ‬2 ‫ݐ‬
C(t) = 1 − ቀ − ቁ
ωn ݁ ‫ݏ‬1 ‫ݐ‬ ݁ ‫ݏ‬2 ‫ݐ‬
2ඥߦ 2 −1 ‫ݏ‬1 ‫ݏ‬1
Figure 1.7 shows over damped response to the unit step
response of the second order system of Figure 1.5.

Figure 1.7: Over damped response

 1.6.1.2 Under damped (0 < ξ < 1)
• We can modify the denominator term of the
transfer function of second order system as follows:
s 2 + 2ξωn s + ߱݊2 = {s 2 + 2(s)(ξωn ) + (ξωn )2 } + ߱݊2 − (ξωn )2
= (s + ξωn )2 + ߱݊2 (1 − ߦ 2 )

• The transfer function becomes:

C(s) ߱ ݊2
=(
R(s) s+ ξω n )2 +߱ ݊2 (1− ߦ 2 )

⇒ C(s) = ቀ( ቁ R(s)
߱ ݊2
s+ ξω n )2 +߱ ݊2 (1− ߦ 2 )
• Substitute R(s):
C(s) = ቀ( ቁቀ ቁ
߱ ݊2 1
s+ ξω n )2 +߱ ݊2 (1− ߦ 2 ) ‫ݏ‬

C(s) =
߱ ݊2
s((s+ ξω n )2 +߱ ݊2 (1− ߦ 2 ))
• Do partial fraction of C(s):
߱2݊ ‫ܣ‬ ‫ݏܤ‬+‫ܥ‬
s (s+ ξω n )2 +߱ ݊2 (1− ߦ 2 ) ‫ݏ‬ (s+ ξω n )2 +߱ ݊2 (1− ߦ 2 )
= +

• After simplifying you will get the values of A, B and C as

1, -1 and - :
1 ‫ݏ‬+2ξω n
‫ݏ‬ (s+ ξω n )2 +߱ ݊2 (1− ߦ 2 )
C(s) = = -
1 ‫ݏ‬+ξω n ξω n
‫ݏ‬ (s+ ξω n )2 +߱ ݊2 (1− ߦ 2 ) (s+ ξω n )2 +߱ ݊2 (1− ߦ 2 )
C(s) = - -

൬ ൰
1 (‫ݏ‬+ξω n ) ξ ߱݊ ඥ1−ߦ 2
‫ݏ‬ (s+ ξω n )2 +߱ ݊2 (1− ߦ 2 ) ඥ1−ߦ 2 (s+ ξω n )2 +(߱݊ ඥ1−ߦ 2 )2
C(s) = - –

• Substitute ߱݀ = ߱݊ ඥ1 − ߦ 2

൬ ൰
1 (‫ݏ‬+ξω n ) ξ ߱݀
‫ݏ‬ (s+ ξω n )2 +߱ ݀2 ඥ1−ߦ 2 (s+ ξω n ) +ω d
2 2
C(s) = - –
 cos (ωd t) − sin(ωd t))൰
ξ݁ −ξω n t
C(t) = ൬1 − ݁ −ξω n t
ඥ1−ߦ 2

C(t) = ൬1 − ((ඥ1 − ߦ 2 )cos(ωd t) + ξ sin(ωd t))൰

݁ −ξω n t
ඥ1−ߦ 2

• If: ඥ1 − ߦ 2 = sin(ߠ)
• Then ξ will be cos (ϴ), substitute these values in c(t):

C(t) = ൬1 − (sin(ߠ)cos(ωd t) + cos(ߠ) sin(ωd t))൰

݁ −ω n t
ඥ1−ߦ 2

⇒ C(t) = ൬1 − ൬ ൰ (sin(ωd t + ߠ)൰

݁ −ω n t
ඥ1−ߦ 2

So, the unit step response of the second order system is

having damped oscillations (decreasing amplitude)
when ξ lies between zero and one.
Figure 1.8 shows under damped response to the unit
step response of the second order system.

Figure 1.8: Under damped response

1.7 Time Response Specifications of Second-Order System
The step response of the second order system for the
under-damped case is shown in the following Figure 1.9.

Figure 1.9: Second order Closed-loop control system

All the time domain specifications are represented in this
figure. The response up to the settling time is known as
transient response and the response after the settling time is
known as steady state response.
1.7.1 Delay Time
It is the time required for the response to reach half of its
final value from the zero instant. It is denoted by td.
Consider the step response of the under damped second
order system, when ‘ξ’ lies between zero and one.

⇒ C(t) = ൬1 − ൬ ൰ (sin(ωd t + ߠ)൰

݁ −ω n t
ඥ1−ߦ 2

The final value of the step response is one.

Therefore, at t = td, the value of the step response will
be 0.5. Substitute, these values in the above equation:

By using linear approximation, you will get the delay

1 + 0.7ξ
time td as

‫= ݀ݐ‬
߱݊
1.7.2 Rise Time
It is the time required for the response to rise from 0% to
100% of its final value. This is applicable for the under-
damped systems. For the over-damped systems,
consider the duration from 10% to 90% of the final value.
Rise time is denoted by tr
At t = t1 = 0, c(t) = 0.
At t = t2 , c(t) = 1.
tr = t2 – t1
Substitute, these values in the following equation:
Substitute t1 and t2 values in the following equation
of rise time,
tr =t2 – t1

ߨ− ߠ
‫= ݎݐ‬
߱݀

From above equation, we can conclude that the rise

time tr and the damped frequency ωd are inversely
proportional to each other.
1.7.3 Peak Time
It is the time required for the response to reach
the peak value for the first time. It is denoted by tp.
At t=tp, the first derivate of the response is zero.
We know the step response of second order system for
under-damped case is

Differentiate c(t) with respect to t:

‫= ݌ݐ‬
‫ߨ‬
‫݀߱‬
1.7.4 Peak Overshoot
Peak overshoot Mp is defined as the deviation of the
response at peak time from the final value of response.
It is also called the maximum overshoot.
Mathematically, we can write it as

Where,
c(tp) is the peak value of the response.
c(∞) is the final (steady state) value of the response.
At t = tp, the response c(t) is:

࣊
Substitute tp = ࣓ in the right hand side of the above
ࢊ

equation
We know that:

So, we will get c(tp) as:

Substitute the values of c(tp) and c(∞) in the peak
overshoot equation:

Mp = 1 + -1

So, we will get c(tp) as:

Mp =

Percentage of peak overshoot % Mp can be

calculated by using this formula:
By substituting the values of Mp and c(∞) in above
formula, we will get the Percentage of the peak
overshoot %Mp as:
ξπ
‫ۇ‬ ‫ۊ‬
−ቌ ቍ
% ‫݁ۈ = ݌ܯ‬
ට1− ξ 2
‫ ۋ‬x 100%

‫ۉ‬ ‫ی‬

From the above equation, we can conclude that the

percentage of peak overshoot %Mp will decrease if
the damping ratio ξ increases.
1.7.5 Settling Time
It is the time required for the response to reach the
steady state and stay within the specified tolerance
bands around the final value. In general, the
tolerance bands are 2% and 5%. The settling time is
denoted by ts.
The settling time for 5% tolerance band is -
‫= ݏݐ‬
3
ξω n

The settling time for 2% tolerance band is:

‫= ݏݐ‬
4
ξω n
 ‫‪1 + 0.7ξ‬‬
‫= ݀ݐ‬
‫݊߱‬
‫ߠ ‪ߨ−‬‬
‫= ݎݐ‬
‫݀߱‬
‫= ݌ݐ‬
‫ߨ‬
‫݀߱‬

‫‪ξπ‬‬
‫ۇ‬ ‫ۊ‬
‫‪−ቌ‬‬ ‫‪ቍ‬‬
‫݁ۈ = ݌ܯ ‪%‬‬
‫‪ට1− ξ 2‬‬
‫‪ x 100%‬ۋ‬

‫ۉ‬ ‫ی‬
‫= ݏݐ‬ ‫)݁ܿ݊ܽݎ݈݁݋ݐ ‪ 5%‬ݎ݋݂(‬
‫‪3‬‬
‫‪ξω n‬‬

‫= ݏݐ‬ ‫)݁ܿ݊ܽݎ݈݁݋ݐ ‪ 2%‬ݎ݋݂(‬

‫‪4‬‬
‫‪ξω n‬‬
Example
Find the time domain specifications of a control
system having the closed loop transfer function when
the unit step signal is applied as an input to this
control system. 4
s + 2s+4
G(s) = 2
Solution
We know that the standard form of the transfer
function of the second order closed loop control
system as
‫= )ݏ(ܩ‬
߱ ݊2
s 2 + 2ξω n s+ ߱ ݊2
By equating these two transfer functions, we will get
the un-damped natural frequency ωn as 2 rad/sec
and the damping ratio as 0.5.
 We know the formula for damped frequency ωd as
߱݀ = ߱݊ ඥ1 − ߦ 2
Substitute, ωn and in the above formula.
߱݀ = 2ඥ1 − (0.5)2
߱݀ = 1.732 rad/sec
ξ

ߠ = ܿ‫ ݏ݋‬−1 ξ
Substitute, value in following relation

ߠ = ܿ‫ݏ݋‬ (0.5) = rad

−1 ߨ
3
Substitute the above necessary values in the formula of
each time domain specification and simplify in order to
get the values of time domain specifications for given
transfer function.
The following table shows the formulae of time specifications,
substitution of necessary values and the final values.