Second Order Systems

&
Block Diagram Reduction

Lecture 4

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 Poles of a Transfer Function
The poles of a transfer function are :
• the values of the Laplace transform variabl
e, s, that cause the transfer function to bec
ome infinite or
• any roots of the denominator of the transfe
r function that are common to roots of the
numerator

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 1st order review
a
T (s) 
( s  a)

• Time constant = 1/a

• Settling Time (Ts) = 4 as of time constant

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 Type of Systems

• First-order Systems

• Second-order Systems

• Higher-order Systems

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Second-order Systems

A system with 2 poles, for example.

Considering the input from the input unit u(t)

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Nature of response for 2nd order systems

Based on the position of the poles (graph characteristics)

can be divided into 4 cases.
– Overdamped response: all poles on real axis
– Underdamped response: complex poles on left-ha
lf plane
– Undamped: complex poles on imaginary axis
– Critically damped: repeated roots on real axis

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7
 K1 K2
C (s)    K1e  p1t  K 2 e  p2t
Laplace
s  p1 s  p2

 1t  2 t
c(t )  K1e  K 2e Overdamped
 d t
c(t )  Ae cos(d t   ) Underdamped

c(t )  A cos(1t   ) Undamped

 1t  1t
c(t )  K1e  K 2te Critically damped
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To see which of the cases, look at the location of
the poles, for example.

 b  b 2  4ac  10  100  800


2a 2

are underdamped
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For each of the following transfer functions,
write, by inspection, the general form of the step
response:

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General form of Second-order Syst
ems
• Natural frequency (n )
• Damping ratio ( ) Undamped
Y ( s)  n2 natural frequency
 2 (rad/sec)
U ( s ) s  2 n s   n2

Damping ratio (unitless)

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.

Poles can be found as

s1, 2   n  n   12

So ζ determines the type of response

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 Natural Frequency
x j d  j n 1   2

Distance from origin

is natural frequency
n
 n

x  j d

Frequency at which system would oscillate if all damping was

removed, i.e., frequency of oscillation of a series RLC circuit
with the resistance shorted would be the natural frequency.
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Damped Natural Frequency

x j d  j n 1   2

Imaginary component
is damped natural
frequency
 n

x  j d
Frequency at which system actually oscillates
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 Damping Ratio
ζ = x/ω

x j d  j n 1   2

ω
Angle
 1 
1
tan    cos 1

 
 
 n x

x  j d
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Damping factor Effect

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 Example 4.4

overdamped critically damped

underdamped

tell me what kind of response each system

C ( s) n2
Clue:  2
R( s) s  2n s  n
2

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 System Specifications
• Peak time, Tp: Time to reach maximum peak.

 
Tp  
n 1   2 d

• Percentage overshoot, %OS: The amount that the wavefor

m overshoots the steady state of final value

  
 
 2 
1 
%OS  e  
100%
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• Settling time Ts: Time required for oscillations to
be bounded within 2% of steady state value

4
Ts 
 n
Tp
These 3 are related to poles.

%OS=b/a × 100%

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 Line of Constant Decay Rate
Real part of pole gives
rate of decay x j d

All poles lying on the

same vertical line
will decay at same  n
rate
4
Settling time Ts Ts 
 n x  j d

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 Line of Constant Frequency
Imaginary
part of pole gives
oscillation frequency x j d

All poles lying on

same horizontal line
in s-plane have  n
same oscillation
frequency
 
Tp   x  j d
n 1   2 d
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 Lines of constant damping
Poles on radial
lines extending x j d
out from origin
have same
damping ratio
 n
  
 
 2  x
1 
%OS  e  
100%  j d

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Same settling time

Same peak time

Same % overshoot

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.

Time constant and damped frequency

• Time constant (second):
Available from reciprocal of real part of d
ominant pole
• Damped frequency of oscillation (radian)
: available from imaginary part of domina
nt pole

Note: dominant pole is the closest imagi

nary axis that is the most affected pole
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 Questions
Q:
Tell the type of response and find the time co
nstant and damped frequency of the following
system. 7
T1 ( s ) 
( s  2)( s  1)
( s  3)
T2 ( s) 
( s  2  j )( s  2  j )
s
T3 ( s ) 
( s  0.5 j )( s  0.5 j )

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 What are the poles?
• Real part: Tells the settling time, with the
closest source to the origin, with the most
settling time, the slowest response. We cal
l this pole dominant pole, which is the mos
t important pole. Most in the system
• Imaginary part: Shows the vibration of the
incoming signal, which means% overshoot
and peak time.

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 Effect of Zero’s Position
Zeros are very effective if they are near dominant poles (pole-zero
cancellation). For example, a system with poles at -1 ± j2.828, if added at
zero, will have the same result.

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Example
Poles are -3±j7
Tp, Ts, %OS

 
Tp  
d 7
4 4
Ts  
d 3
%OS  e  ( 3 / 7 ) 100  26%
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 Type of Systems

• First-order Systems

• Second-order Systems

• Higher-order Systems

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.

Higher-Order System
Second-order systems are based on dominant poles

Dominant poles are 2 poles near the most axis.

Example 1 Overdamped

A K1 K2 K3
C (s)    
s s  p1 s  p2 s  p3
 Au (t )  K1e  p1t  K 2 e  p2t  K 3e  p3t
Laplace
Example 2 Underdamped
A B ( s  n )  Cd D
C (s)   
s ( s  n )  d
2
s  r
c(t )  Au (t )  e  nt ( B cos d t  C sin d t )  De r t
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 (∞)

= Case III

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.

Nise’s Proposition

If the poles are far more dominant than the dominant

poles, 5 times the real number of poles. Will be cut to
leave

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.

conclusions
• In this chapter, we will study the response
of the transient system only, focusing on 1
st and 2nd order systems
• The key terms are time constant, settling t
ime (4 times of time constant), dominant
pole, natural frequency, damping ratio (re
sulting in different response)
• How do poles and zeros affect system res
ponsiveness?
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Multiple Subsystems and Reductio
n
Look at the
integrated
specification Split and draw system and write
system Block Diagram Schematics

Find transfer
write Block
Analyze theory function
Diagram
Of each block

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Block Symbols

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Cascade Connections

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Parallel Connections

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Feedback Loop

E ( s)  R( s)  C ( s) H ( s)
C ( s )  E ( s )G ( s )
C (s)
Replace E(s) with
G ( s)
C ( s) G(s)

R( s) 1  G ( s) H ( s)

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Box-moving Technique
Move pass summing junction

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Move pass pick-off point

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Example

Reduce a single block.

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 Example

Reduce a single block

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