INDUSTRIAL AUTOMATION SECTION

FAB30603 CONTROL SYSTEM 1

Experiment 2: Analysis of Second-order System

Objectives:
To characterize second order system
To study the transient characteristics (eg. rise time, settling time, overshoot) of second-order
systems by using the unit step-input.
Introduction:
Figure 1 shows various parameters marked on a typical unit-step response of a control system:

ess(t)

ymax

Figure 1: A typical unit-step response of a control system

Definitions:
Delay time td: The time required for the step response to reach 50% of its final value.
Rise time tr: The time required for the step response to rise from 10 to 90 per cent of its final value.
Settling time ts: The time required for the step response to reach and stay within a specified
percentage (2-5%) of its final value.

Experiment 2

Analysis of Second-Order System

FAB30603 Control System 1

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Maximum overshoot: Let ymax denote the maximum value of y(t) and yss be the steady-state value of
y(t) and ymax yss. The maximum overshoot is defined as
Maximum overshoot = (ymax yss)
Steady state error

ess (t ) = lim r (t ) y (t )
t

Figure 2 shows a second-order plant. Using ideal op-amp properties, the systems transfer function
can be written as
V
K
G ( s) s = j = out = 2 2
. (1)
Vin s + (3 K )s + 1
R
where
K = 1+ 2
and
= RC
R1
This is a second-order system with two zeros. The stability and performance of the system depend
on the locations of zeros, which are determined by the values of K and .
R2

Vin

R1

Vout
R

Figure 2: A second-order plant

In general, a second-order transfer function is given by

n2
M (s) = 2
2
s + 2 n s + n

. (2)

where is called the damping ratio and n is defined as the undamped natural frequency.

Experiment 2

Analysis of Second-Order System

FAB30603 Control System 1

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Comparing (1) and (2), we have

n = 1 /
= (3 K ) / 2

and

. (3)
. (4)

Figure 3 shows the unit-step response of the second-order system for various values of . It may
be noted that the response becomes more oscillatory with larger overshoot as decreases.

Figure 3: Unit-step response for various values of

When < 1, the system is under-damped and when > 1, the system is over-damped.
When = 0, the response becomes purely oscillatory with angular frequency of n. Therefore
n is the frequency of the undamped oscillation. For 0 < < 1, the actual (damped) frequency of
oscillation is

d = n 1 2 d

. (5)

Alternatively, we may approximate system parameters analytically by using the following

expressions:
Delay time,
td (1.1 + 0.125 + 0.469 2 ) / n
. (6)
tr (1 0.4167 + 2.917 2 ) / n
t s 4T = 4 / n

Rise time,
Settling time,

Maximum overshoot = yss e /

Experiment 2

1 2

. (7)
. (8)
. (9)

Analysis of Second-Order System

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In the following experiment, the characteristics of a second-order plant will be investigated.

Hardware Requirements:

Second-order Plant Module* (Plant)

Dual-channel power supply (+12Vdc and 12Vdc)
Function generator
Oscilloscope
Accessories: BNC cables, T-connectors and power connectors

* Note: There are two second-order plants in this module. The time constant for the first plant (A) is

= 0.1msec, while second plant (B) is = 0.01msec. The rest of the component values are identical.
Experiment 2-1: Unit step response of a second order control system
Plant A with = 0.1msec
1.

Disconnect all cables/wires from the hardware module.

2.

Turn on the power supply and adjust the voltage rating to +12Vdc for channel-1, and 12Vdc
for channel-2. Connect the power supply to the hardware module.

3.

Turn on the function generator and set the output to 2Vppk square pulse at frequency
100Hz.

4.

Connect the output of the function generator to Input A of the Second-order Plant and
channel-1 of the oscilloscope (using T-connector).

5.

Connect Output A of the plant to channel-2 of the oscilloscope.

6.

Adjust the potentiometer R2 (varying system gain, K) and observe the changes in the system
response.

7.

Set the R2 to get an under-damped output with ymax ~ 8V (refer to Figure 1). Plot the result
and record down all the readings. From your graph, determine
Delay time, td
Rise time, tr
5% settling time, ts
Maximum overshoot
Steady state error

8.

Based on equation (9), calculate the damping ratio, .

9.

Hence, determine the expected analytical values for td, tr, ts. ( Natural frequency, n = 1/ =
10kHz ).
Do they match? Comment on your answer.

Experiment 2

Analysis of Second-Order System

FAB30603 Control System 1

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Plant B with = 0.01msec

10.

Next, change the plant to second plant (B) with time constant 0.01msec.

11.

Adjust the potentiometer R2 (varying system gain, K) and observe the changes in the system
response.

12.

Set the R2 to get an under-damped output. Plot the result and record down all the readings.
From your graph, determine
Delay time, td
Rise time, tr
5% settling time, ts
Maximum overshoot
Steady state error

13.

Based on equation (9), calculate the damping ratio, .

14.

Hence, determine the expected analytical values for td, tr, ts. (Natural frequency, n = 1/ =
10kHz ).
Comment on your answer.

Block A: R=10kHz, C=0.01uF

Block B: R=1kHz, C=0.01uF

Experiment 2

Analysis of Second-Order System

FAB30603 Control System 1

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