ECEN 315
Fundamentals of Control
Lecture #5: Second Order System Response
By
Mohamed Saeed Darweesh
Associate Professor
Electronics and Computer Engineering Program
School of Engineering and Applied Sciences
Nile University
IEEE R8 Young Professionals Chairman
IEEE Egypt Section Secretary ْ َ
ِبحم ِد ِه تعالى
This Lecture Logistics
❑ Chapter 5
❑ K. Ogata, “Modern Control Engineering,” 5th Edition, 2010
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Agenda
❑ Time Domain Analysis
❑ Second Order Systems
❑ Time Response of Second Order Systems
❑ Second Order Time Domain Specifications
3
Introduction
❑ We have already discussed the effect 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.
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Time Domain Analysis
❑ It is a method to analyze a certain system’s performance.
❑ It measures the response of a dynamic system to an input as a
function of time.
❑ To perform a time-domain analysis we need:
❑ The mathematical model for the physical system to be analyze.
❑ An analytical expression for the input signal in time domain.
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2nd Order Systems
The servo system shown in following figure consists of a gain block
(proportional controller) and load elements (inertia and friction
elements). Suppose that we wish to control the output position 𝒄
in accordance with the input position 𝒓.
By taking Laplace transform of both sides of the above equation,
assuming the zero initial conditions, we obtain:
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2nd Order Systems
The system can be redrawn as:
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2nd Order Systems
8
2nd Order Systems
The closed-loop poles are complex conjugates if 𝐵2 − 4𝐽𝐾 < 0 and
they are real if 𝐵2 − 4𝐽𝐾 ≥ 0. In the transient-response analysis, it is
convenient to write:
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2nd Order Systems
Where 𝜔𝑛 , the undamped natural frequency; and ζ, the damping
ratio of the system.
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2nd Order Systems
The general expression of transfer function of a second order
control system is given as:
𝐶(𝑠) 𝜔𝑛2
= 2
𝑅(𝑠) 𝑠 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛2
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2nd Order Systems
❑ Standard form
𝐶(𝑠) 𝐾𝜔𝑛2
𝐺 𝑠 = =
𝑅(𝑠) 𝑠 2 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛2
Undamped Natural Frequency, 𝝎𝒏
❑ The frequency of the system oscillations without damping.
Damping ratio, 𝜻
❑ It measures the degree of resistance to change in the system
output.
❑ The damping ratio is a dimensionless measure describing
how oscillations in a system decay after a disturbance.
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2nd Order Systems
❑ The transient response of a system is independent of the input.
❑ Thus, for transient response analysis, the system input can be
considered to be zero, so 𝑅(𝑠) will be:
𝑠 2 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛2 𝐶(𝑠) = 0
𝑠 2 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛2 = 0
❑ This polynomial in 𝑠 is called the characteristic equation and its
roots will determine the system transient response.
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Time Response of 2nd Order Systems
𝐶(𝑠) 𝜔𝑛2
= 2
𝑅(𝑠) 𝑠 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛2
If the denominator of the expression is zero:
𝑠 2 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛2 = 0
𝑠 2 + 2𝜁𝜔𝑛 𝑠 + 𝜁 2 𝜔𝑛 2 − 𝜁 2 𝜔𝑛 2 + 𝜔𝑛2 = 0
2
𝑠 + 𝜁𝜔𝑛 − 𝜁 2 𝜔𝑛 2 + 𝜔𝑛2 = 0
2
2
𝑠 + 𝜁𝜔𝑛 + 𝜔𝑛 1 − 𝜁2 =0
𝑠 = −𝜁𝜔𝑛 ± 𝑗𝜔𝑛 1 − 𝜁 2
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Time Response of 2nd Order Systems
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Time Response of 2nd Order Systems
𝐶(𝑠) 𝜔𝑛2
= 2
𝑅(𝑠) 𝑠 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛2
The characteristic equation 𝑠 2 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛2 has two roots:
𝑠1 = −𝜁𝜔𝑛 + 𝑗𝜔𝑛 1 − 𝜁 2
𝑠2 = −𝜁𝜔𝑛 − 𝑗𝜔𝑛 1 − 𝜁 2
❑ If 𝜁 > 1 → roots are real
❑ If 𝜁 < 1 → roots are complex (under damped)
❑ If 𝜁 = 1 → same roots and real (critically damped)
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Time Response of 2nd Order Systems
❑ Suppose there are 3 airplanes P1, P2 and P3 as marked in the
figure.
❑ All have to reach the center of the blue ring (Steady State
Value).
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Time Response of 2nd Order Systems
❑ Over Damped: The airplane takes off very slowly and hence
has a very high value of Rise Time as compared to other two
systems. Also, due to some navigational anomalies it never
reaches its destination and stays below the required height.
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Time Response of 2nd Order Systems
❑ Critically Damped: The plane is better than the previous
plane and almost (asymptotically) reaches the target and that
too at a better speed and less time.
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Time Response of 2nd Order Systems
❑ Under Damped: This plane pilot is very enthusiastic and, in
its excitement, goes at very high speed hence goes pass the
target and that too in very less time (Rise Time) as compared
to other two planes.
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Time Response of 2nd Order Systems
−𝜔𝑛 𝜁 + 𝑗𝜔𝑛 1 − 𝜁 2
−𝜔𝑛 𝜁 − 𝑗𝜔𝑛 1 − 𝜁 2
According the value of 𝜁, a second-order system can be set into
one of the four categories:
❑ Un Damped - When the system has two imaginary poles (𝜁 = 0).
jω
δ
-c -b -a
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Time Response of 2nd Order Systems
Un Damped
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Time Response of 2nd Order Systems
−𝜔𝑛 𝜁 + 𝑗𝜔𝑛 1 − 𝜁 2
−𝜔𝑛 𝜁 − 𝑗𝜔𝑛 1 − 𝜁 2
According the value of 𝜁, a second-order system can be set into
one of the four categories:
❑ Under Damped - When the system has two complex conjugate
poles (0 < 𝜁 < 1).
jω
δ
-c -b -a
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Time Response of 2nd Order Systems
Under Damped
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Time Response of 2nd Order Systems
−𝜔𝑛 𝜁 + 𝑗𝜔𝑛 1 − 𝜁 2
−𝜔𝑛 𝜁 − 𝑗𝜔𝑛 1 − 𝜁 2
According the value of 𝜁, a second-order system can be set into
one of the four categories:
❑ Critical Damped - When the system has two real but equal poles
(𝜁 = 1).
jω
δ
-c -b -a
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Time Response of 2nd Order Systems
Critical Damped
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Time Response of 2nd Order Systems
−𝜔𝑛 𝜁 + 𝑗𝜔𝑛 1 − 𝜁 2
−𝜔𝑛 𝜁 − 𝑗𝜔𝑛 1 − 𝜁 2
According the value of 𝜁, a second-order system can be set into
one of the four categories:
❑ Over Damped - When the system has two real distinct poles (𝜁
> 1).
jω
δ
-c -b -a
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Time Response of 2nd Order Systems
Over Damped
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Time Response of 2nd Order Systems
−𝜔𝑛 𝜁 + 𝑗𝜔𝑛 1 − 𝜁 2
−𝜔𝑛 𝜁 − 𝑗𝜔𝑛 1 − 𝜁 2
❑ First, if 𝜁 = 0 , the poles are complex conjugates on the
imaginary axis at 𝑠1 = 𝑗𝜔𝑛 and 𝑠2 = −𝑗𝜔𝑛 . This referred to
undamped case.
❑ If 0 < 𝜁 < 1 then the poles are complex conjugates lying in the
left half of the 𝑠-plane. This referred to underdamped case.
❑ If 𝜁 = 1 then the poles coincide on the real axis at 𝑠1 = 𝑠2
= −𝜁𝜔𝑛 . This referred to critically damped case.
❑ Finally, 𝜁 > 1 then the poles are at distinct locations on the real
axis in the left half of the 𝑠-plane. This referred to overdamped
case.
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Time Response of 2nd Order Systems
According to the value of 𝜁, a second-order system can be set into
one of the four categories:
❑ Critical damping 𝜻𝒄 : The value of the damping coefficient, that make the system
to reach its steady state value in minimum time without overshoot.
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Time Response of 2nd Order Systems
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Time Response of 2nd Order Systems
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Relation Between 𝑺-Plane and 𝝎𝒏 and 𝜻
−𝜔𝑛 𝜁 + 𝑗𝜔𝑛 1 − 𝜁 2
−𝜔𝑛 𝜁 − 𝑗𝜔𝑛 1 − 𝜁 2
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Relation Between 𝑺-Plane and 𝝎𝒏 and 𝜻
Undamped Natural Frequency, 𝝎𝒏
❑ The distance from the origin of 𝑠 -plane to the pole is the
undamped natural frequency 𝜔𝑛 in rad/sec.
❑ For example, if 𝜔𝑛 = 3, the pole is located anywhere on a circle
with radius 3.
❑ Therefore, the 𝑠 -plane is divided into constant undamped
natural frequency (𝜔𝑛 ) circles.
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Relation Between 𝑺-Plane and 𝝎𝒏 and 𝜻
Damping Ratio, 𝜻
❑ Cosine of the angle between the vector connecting origin to
pole and the –ve real axis yields damping ratio.
ζ = cos 𝜃
❑ The 𝑠-plane is divided into sections of constant damping ratio
lines.
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Relation Between 𝑺-Plane and 𝝎𝒏 and 𝜻
Example 1
Determine the natural frequency and damping ratio of the poles
from the following PZ-map.
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Relation Between 𝑺-Plane and 𝝎𝒏 and 𝜻
Example 2
❑ Determine the natural
frequency and damping ratio
of the poles from the given
PZ-map.
❑ Determine the transfer
function of the system and
state whether system is
underdamped, overdamped,
undamped or critically
damped.
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2nd Order System Time Domain Specs
❑ The performance of the control system can be expressed in the
term of transient response to a unit step input function because
it is easy to generate.
❑ Let us consider a second-order control system in which a unit
step input signal is given, and it is also considered that the
system is initially at rest.
❑ That is all initial conditions of the system are zero.
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2nd Order System Time Domain Specs
❑ The time response characteristics of the system is drawn below.
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2nd Order System Time Domain Specs
Time Delay, 𝒕𝒅
It is the time required for the response 𝑦(𝑡) to reach half of the
final value the very first time.
Rise Time, 𝒕𝒓
It is the time required for the response to rise from:
❑ 0% to 100% of its final value for the under-damped system.
❑ 10% to 90% of its final value for the over-damped system.
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2nd Order System Time Domain Specs
Peak Time, 𝒕𝒑
It is the time required for the response to reach its first peak of the
overshoot.
Maximum (percent) Overshoot, 𝑴𝒑
It is the maximum peak value of the response curve measured
from unity.
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2nd Order System Time Domain Specs
Settling Time, 𝒕𝒔
It 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%).
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2nd Order System Time Domain Specs
Example 1
A unity gain second order system with damping ratio 0.6 and
natural undamped frequency 5 rad/sec.
❑ Write the system transfer function.
❑ If the system is subjected to a unit-step input, obtain:
❑ The rise time 𝑡𝑟 .
❑ The peak time 𝑡𝑝 .
❑ The maximum overshoot 𝑀𝑝 .
❑ The settling time 𝑡𝑠 at 2% and 5% criterion.
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2nd Order System Time Domain Specs
Solution
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2nd Order System Time Domain Specs
Solution
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2nd Order System Time Domain Specs
Example 2
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 𝐾 and 𝑇 from the response curve.
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2nd Order System Time Domain Specs
Solution
The maximum overshoot of 25.4% corresponds to 𝜁 = 0.4. From
the response curve we have:
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2nd Order System Time Domain Specs
Solution
From the block diagram:
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Where to find me?
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❑ Email: [email protected]
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