Linear Control Systems (LCS)

Time Domain Analysis of 2nd Order Systems

1
 Introduction
• We have already discussed the affect of location of poles and zeros on
the transient response of 1st order systems.

• Compared to the simplicity of a first-order system, a second-order system

exhibits a wide range of responses that must be analyzed and described.

• Varying a first-order system's parameter (T, K) simply changes the speed

and offset of the response

• Whereas, changes in the parameters of a second-order system can

change the form of the response.

• A second-order system can display characteristics much like a first-order

system or, depending on component values, display damped or pure
oscillations for its transient response. 2
 Introduction
• A general second-order system is characterized by the
following transfer function.

C( s )  n2
 2
R( s ) s  2 n s   n2

n un-damped natural frequency of the second order system, which is

the frequency of oscillation of the system without damping.

 damping ratio of the second order system, which is a measure

of the degree of resistance to change in the system output. 3
 Example#1
• Determine the un-damped natural frequency and damping ratio
of the following second order system.
C( s ) 4
 2
R( s ) s  2s  4

• Compare the numerator and denominator of the given transfer

function with the general 2nd order transfer function.
C( s )  n2
 2
R( s ) s  2 n s   n2

 n2  4   n  2 rad / sec
 2 n s  2s
  n  1
s 2  2 n s   n2  s 2  2s  4
   0. 5 4
 Introduction

C( s )  n2
 2
R( s ) s  2 n s   n2

• Two poles of the system are

  n   n  2  1

  n   n  2  1

5
 Introduction
  n   n  2  1

  n   n  2  1
• According the value of , a second-order system can be set into one
of the four categories:
1. Overdamped - when the system has two real distinct poles (  >1).

jω

δ
-c -b -a

6
 Introduction
  n   n  2  1

  n   n  2  1
• According the value of , a second-order system can be set into one
of the four categories:

2. Underdamped - when the system has two complex conjugate poles (0 < <1)

jω

δ
-c -b -a

7
 Introduction
  n   n  2  1

  n   n  2  1
• According the value of , a second-order system can be set into one
of the four categories:

3. Undamped - when the system has two imaginary poles (  = 0).

jω

δ
-c -b -a

8
 Introduction
  n   n  2  1

  n   n  2  1
• According the value of , a second-order system can be set into one
of the four categories:

4. Critically damped - when the system has two real but equal poles ( = 1).
jω

δ
-c -b -a

9
 Time-Domain Specification
For 0<  <1 and ωn > 0, the 2nd order system’s response due to a
unit step input looks like

10
 Time-Domain Specification
• The delay (td) time is the time required for the response to
reach half the final value the very first time.

11
 Time-Domain Specification
• The rise time is the time required for the response to rise from 10%
to 90%, 5% to 95%, or 0% to 100% of its final value.
• For underdamped second order systems, the 0% to 100% rise time is
normally used. For overdamped systems, the 10% to 90% rise time is
commonly used.
 Time-Domain Specification
• The peak time is the time required for the response to reach
the first peak of the overshoot.

13
13
 Time-Domain Specification
The maximum overshoot is the maximum peak value of the
response curve measured from unity. If the final steady-state
value of the response differs from unity, then it is common to
use the maximum percent overshoot. It is defined by

The amount of the maximum (percent) overshoot directly

indicates the relative stability of the system.

14
 Time-Domain Specification
• The settling time is the time required for the response curve
to reach and stay within a range about the final value of size
specified by absolute percentage of the final value (usually 2%
or 5%).

15
 S-Plane
• Natural Undamped Frequency.

jω
• Distance from the origin of s-
plane to pole is natural
undamped frequency in n
rad/sec.
δ

16
 S-Plane
• Let us draw a circle of radius 3 in s-plane.

• If a pole is located anywhere on the circumference of the circle the

natural undamped frequency would be 3 rad/sec.

jω

-3 3
δ

-3

17
 S-Plane
• Therefore the s-plane is divided into Constant Natural
Undamped Frequency (ωn) Circles.

jω

18
 S-Plane
• Damping ratio.

• Cosine of the angle between jω

vector connecting origin and
pole and –ve real axis yields
damping ratio.

δ
  cos 

19
 S-Plane
• For Underdamped system 0     90 therefore, 0    1

jω

20
 S-Plane
• For Undamped system   90 therefore,   0

jω

21
 S-Plane
• For overdamped and critically damped systems   0 
therefore,   0

jω

22
 S-Plane
• Draw a vector connecting origin of s-plane and some point P.

jω
P

45
δ

  cos 45  0. 707

23
 S-Plane
• Therefore, s-plane is divided into sections of constant damping
ratio lines.

jω

24
 Example-2
• Determine the natural frequency and damping ratio of the poles from the
following pz-map. Pole-Zero Map
1.5
0.91 0.84 0.74 0.6 0.42 0.22

0.96
1

0.99
Imaginary Axis (seconds-1)

0.5

4 3.5 3 2.5 2 1.5 1 0.5

0

-0.5
0.99

-1
0.96

0.91 0.84 0.74 0.6 0.42 0.22

-1.5
-4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 25
-1
 Example-3
Pole-Zero Map
3
3
0.7 0.56 0.42 0.28 0.14
2.5
• Determine the natural frequency
and damping ratio of the poles 2 0.82
2

from the given pz-map. 1.5

0.91
1
• Also determine the transfer

Imaginary Axis (seconds-1)

1
0.975
function of the system and state 0.5

whether system is 0
underdamped, overdamped,
undamped or critically damped. 0.975 0.5
-1
1
0.91
1.5
-2 0.82
2

2.5
0.7 0.56 0.42 0.28 0.14
-3
-3 -2.5 -2 -1.5 -1 -0.5 26 30
 Example-4
• The natural frequency of closed Pole-Zero Map
3
loop poles of 2nd order system is 2 3
0.5 0.38 0.28 0.17 0.08 2.5

rad/sec and damping ratio is 0.5. 2

0.64
2

1.5
0.8
1
• Determine the location of closed 1
0.94 0.5

Imaginary Axis
loop poles so that the damping 0

ratio remains same but the natural 0.94 0.5

undamped frequency is doubled. -1

1
0.8
1.5
-2
2
0.64

C( s )  n2 4 0.5 0.38 0.28 0.17 0.08 2.5

 2 2
 2 -3
-2 -1.5 -1 -0.5 30
R( s ) s  2 n s   n s  2s  4 Real Axis

27
 Example-4
Determine the location of closed loop poles so that the damping ratio remains same
but the natural undamped frequency is doubled.
Pole-Zero Map
5

4
0.5
3

1
Imaginary Axis

4 2
0

-1

-2

-3
0.5
-4

-5 28
-8 -6 -4 -2 0 2 4
 S-Plane
  n   n  2  1

  n   n  2  1

29
 Step Response of underdamped System
C( s )  n2 Step Response  n2
 2 C( s ) 
R( s ) s  2 n s   n2 
s s 2  2 n s   n2 
• The partial fraction expansion of above equation is given as

1 s  2 n
C( s )   2
s s  2 n s   n2

 n2 1   2 
1 s  2 n
C( s )   2
s  2 n 2 s s  2 n s   2 n2   n2   2 n2

1 s  2 n
C( s )  

s s   n 2   n2 1   2  30
 Step Response of underdamped System
1 s  2 n
C( s )  

s s   n 2   n2 1   2 
• Above equation can be written as
1 s  2 n
C( s )  
s s   n 2   d2
• Where  d   n 1   2 , is the frequency of transient oscillations
and is called damped natural frequency.
• The inverse Laplace transform of above equation can be obtained
easily if C(s) is written in the following form:
1 s   n  n
C( s )   
s s   n    d s   n 2   d2
2 2
31
Step Response of underdamped System
1 s   n  n
C( s )   
s s   n 2   d2 s   n 2   d2


n 1   2
1 s   n 1 2
C( s )   
s s   n    d
2 2
s   n 2   d2
1 s   n  d
C( s )   
s s   n    d
2 2
1 2 s   2   2
n d

 n t 
c(t )  1  e cos  d t  e  nt sin  d t
1 2
32
 Step Response of underdamped System
 n t 
c(t )  1  e cos  d t  e  nt sin  d t
1 2

  
c(t )  1  e  nt cos  d t  sin  d t 
 1   2 
 

• When   0
d  n 1   2
 n

c(t )  1  cos  n t
33
 Step Response of underdamped System
  
 n t 
c(t )  1  e cos  d t  sin  d t 
 1 2 
 
if   0.1 and  n  3 rad / sec
1.8

1.6

1.4

1.2

0.8

0.6

0.4

0.2

0 34
0 2 4 6 8 10
 Step Response of underdamped System
  
 n t 
c(t )  1  e cos  d t  sin  d t 
 1 2 
 
if   0.5 and  n  3 rad / sec
1.4

1.2

0.8

0.6

0.4

0.2

0 35
0 2 4 6 8 10
 Step Response of underdamped System
  
 n t 
c(t )  1  e cos  d t  sin  d t 
 1 2 
 
if   0.9 and  n  3 rad / sec
1.4

1.2

0.8

0.6

0.4

0.2

0 36
0 2 4 6 8 10
Step Response of underdamped System
  
 n t 
c(t )  1  e cos  d t  sin  d t 
 1 2 
 

37
Step Response of underdamped System
2
b=0
1.8 b=0.2
b=0.4
1.6
b=0.6
b=0.9
1.4

1.2

0.8

0.6

0.4

0.2

0
0 1 2 3 4 5 6 7 8 9 10 38
Step Response of underdamped System
1.4

1.2

0.8
wn=0.5
0.6 wn=1
wn=1.5
wn=2
0.4 wn=2.5

0.2

0
0 1 2 3 4 5 6 7 8 9 10 39
 Time Domain Specifications
Rise Time Peak Time

     
tr   tp  
d 2 d  1   2
n 1   n

Settling Time (2%)

4
t s  4T  Maximum Overshoot
 n


3 Mp e
1 2
 100
t s  3T 
 n
Settling Time (4%) 40
 Example#5
• Consider the system shown in following figure, where
damping ratio is 0.6 and natural undamped frequency is 5
rad/sec. Obtain the rise time tr, peak time tp, maximum
overshoot Mp, and settling time 2% and 5% criterion ts when
the system is subjected to a unit-step input.

41
 Example#5
Rise Time Peak Time

  
tr  tp 
d d

Settling Time (2%) Maximum Overshoot

4 
t s  4T  
 n 1 2
Mp e  100
3
t s  3T 
 n
42
Settling Time (4%)
 Example#5
Rise Time

 
tr 
d

3.141  
tr  
2
n 1  

2
 1  
  tan 1 ( n )  0.93 rad
 n

3. 141  0. 93
tr   0.55s
5 1  0. 6 2 43
 Example#5
Peak Time
Settling Time (2%)

 4
tp  ts 
d  n

4
3. 141 ts   1. 33s
tp   0. 785s 0. 6  5
4
Settling Time (4%)

3
ts 
 n
3
ts   1s
0. 6  5 44
 Example#5
Maximum Overshoot


1 2
Mp e  100

3. 1410. 6

1 0.6 2
Mp e  100

M p  0. 095  100

M p  9.5%
45
 Example#5
Step Response
1.4

1.2 Mp

0.8
Amplitude

0.6

0.4

Rise Time
0.2

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6
46
Time (sec)
 Example#6
• For the system shown in Figure-(a), determine the values of gain K
and velocity-feedback constant Kh so that the maximum overshoot
in the unit-step response is 0.2 and the peak time is 1 sec. With
these values of K and Kh, obtain the rise time and settling time.
Assume that J=1 kg-m2 and B=1 N-m/rad/sec.

47
Example#6

48
 Example#6

Since J  1 kgm 2 and B  1 Nm/rad/sec

C( s ) K
 2
R( s ) s  (1  KK h )s  K
• Comparing above T.F with general 2nd order T.F

C( s )  n2
 2
R( s ) s  2 n s   n2

(1  KK h )
n  K  
2 K 49
 Example#6
(1  KK h )
n  K  
2 K
• Maximum overshoot is 0.2. • The peak time is 1 sec


tp 
d
3.141
1

 n 1   2
)  ln 0. 2 
1 2
ln( e
3.141
n 
1  0. 4562

 n  3. 53
50
 Example#6
 n  3.96

(1  KK h )
n  K  
2 K
3. 53  K 0. 456  2 12. 5  (1  12. 5K h )

3. 532  K K h  0. 178

K  12. 5

51
 Example#6
 n  3.96

  4
tr  ts 
n 1   2  n

t r  0.65s t s  2. 48s

3
ts 
 n

t s  1.86s
52
 Example#7
When the system shown in Figure(a) is subjected to a unit-step input,
the system output responds as shown in Figure(b). Determine the
values of a and c from the response curve.

a
s( cs  1)

53
 Example#8
Figure (a) shows a mechanical vibratory system. When 2 lb of force
(step input) is applied to the system, the mass oscillates, as shown in
Figure (b). Determine m, b, and k of the system from this response
curve.

54
 Example#9
Given the system shown in following figure, find J and D to yield 20%
overshoot and a settling time of 2 seconds for a step input of torque
T(t).

55
Example#9

56
Example#9

57
 Example # 10

• Ships at sea undergo

motion about their roll axis,
as shown in Figure. Fins
called stabilizers are used to
reduce this rolling motion.
The stabilizers can be
positioned by a closed-loop
roll control system that
consists of components,
such as fin actuators and
sensors, as well as the ship’s
roll dynamics.
58
 Example # 10
• Assume the roll dynamics, which relates the roll-angle output, , to a
disturbance-torque input, TD(s), is

• Do the following:
a) Find the natural frequency, damping ratio, peak time, settling
time, rise time, and percent overshoot.
b) Find the analytical expression for the output response to a unit
step input.
59
 Step Response of critically damped System (  1 )
C( s )  n2 Step Response  n2
 C( s ) 
R( s ) s   n 2 s s   n 
2

• The partial fraction expansion of above equation is given as

 n2 A B C
  
s s   n  s s   n s   n 2
2

1 1 n
C( s )   
s s   n s   n 2

c(t )  1  e nt   n e  nt t

c(t )  1  e nt 1   n t  60
61
 Second – Order System
Example 11: Describe the nature of the second-order system
response via the value of the damping ratio for the systems with
transfer function

12
1. G ( s )  2
s  8s  12

16
2. G ( s )  2
s  8s  16

20
3. G ( s )  2
s  8s  20

62
 Example-12
• For each of the transfer
functions find the locations of
the poles and zeros, plot them
on the s-plane, and then write
an expression for the general
form of the step response
without solving for the inverse
Laplace transform. State the
nature of each response
(overdamped, underdamped,
and so on).

63
 Example-13
• Solve for x(t) in the system shown in Figure if f(t) is a unit step.

64