Second order system response.

Im(s)

Underdamped

Overdamped or Critically damped

Underdamped

Undamped

Unstable
Re(s)

Overdamped system response

System transfer function :

Impulse response :

Step response :

Overdamped and critically damped system response.

Overdamped and critically damped system response.

Overdamped

Overdamped and critically damped system response.

Overdamped

Overdamped and critically damped system response.

Critically damped

Polar vs. Cartesian representations.

Polar vs. Cartesian representations.

System transfer function :

All 4 cases

Unless overdamped
Cartesian overdamped

Significance of the damping ratio :

Overdamped
Critically damped
Underdamped
Undamped

Polar vs. Cartesian representations.

System transfer function :

All 4 cases

Unless overdamped
Cartesian overdamped

Significance of the damping ratio :

Overdamped
Critically damped
Underdamped
Undamped

Polar vs. Cartesian representations.

System transfer function :

All 4 cases

Unless overdamped
Cartesian overdamped

Significance of the damping ratio :

Overdamped
Critically damped
Underdamped
Undamped

Overdamped case:

Second order impulse response Underdamped and Undamped

Impulse response :

Second order impulse response Underdamped and Undamped

Increasing

/ Fixed
Impulse Response
1

0.8

Amplitude

0.6

0.4

0.2

-0.2

-0.4

0.5

1.5
Time (sec)

2.5

Second order impulse response Underdamped and Undamped

Increasing

/ Fixed
Impulse Response
1

0.8

Amplitude

0.6

0.4

0.2

-0.2

-0.4

0.5

1.5
Time (sec)

2.5

Second order impulse response Underdamped and Undamped

Increasing

/ Fixed
Impulse Response
1

0.8

Amplitude

0.6

0.4

0.2

-0.2

-0.4

0.5

1.5
Time (sec)

2.5

Second order impulse response Underdamped and Undamped

Increasing

/ Fixed
Impulse Response
1

0.8

Amplitude

0.6

0.4

0.2

-0.2

-0.4

0.5

1.5
Time (sec)

2.5

Second order impulse response Underdamped and Undamped

Increasing

/ Fixed
Impulse Response
0.1
0.08
0.06
0.04

Amplitude

0.02
0
-0.02
-0.04
-0.06
-0.08
-0.1

0.5

1.5
Time (sec)

2.5

Second order impulse response Underdamped and Undamped

Increasing

/ Fixed
Impulse Response
0.1
0.08
0.06
0.04

Amplitude

0.02
0
-0.02
-0.04
-0.06
-0.08
-0.1

0.5

1.5
Time (sec)

2.5

Second order impulse response Underdamped and Undamped

Increasing

/ Fixed
Impulse Response
0.1
0.08
0.06
0.04

Amplitude

0.02
0
-0.02
-0.04
-0.06
-0.08
-0.1

0.5

1.5
Time (sec)

2.5

Second order impulse response Underdamped and Undamped

Increasing

/ Fixed
Impulse Response
0.1
0.08
0.06
0.04

Amplitude

0.02
0
-0.02
-0.04
-0.06
-0.08
-0.1

0.5

1.5
Time (sec)

2.5

Second order impulse response Underdamped and Undamped

Increasing

/ Fixed
Impulse Response
6

Amplitude

-1

0.5

1.5

2.5

3.5

Time (sec)

10
5
0
-5
-10
-6

-4

-2

Second order impulse response Underdamped and Undamped

Increasing

/ Fixed
Impulse Response
6

Amplitude

-1

0.5

1.5

2.5

3.5

Time (sec)

10
5
0
-5
-10
-6

-4

-2

Second order impulse response Underdamped and Undamped

Increasing

/ Fixed
Impulse Response
6

Amplitude

-1

0.5

1.5

2.5

3.5

Time (sec)

10
5
0
-5
-10
-6

-4

-2

Second order impulse response Underdamped and Undamped

Increasing

/ Fixed
Impulse Response
6

Amplitude

-1

0.5

1.5

2.5

3.5

Time (sec)

10
5
0
-5
-10
-6

-4

-2

Second order impulse response Underdamped and Undamped

Increasing

/ Fixed
Impulse Response
5
4
3

Amplitude

2
1
0
-1
-2
-3
-4

6
Time (sec)

10

12

6
4
2
0
-2
-4
-6

-5

Second order impulse response Underdamped and Undamped

Increasing

/ Fixed
Impulse Response
5
4
3

Amplitude

2
1
0
-1
-2
-3
-4

6
Time (sec)

10

12

6
4
2
0
-2
-4
-6

-5

Second order impulse response Underdamped and Undamped

Increasing

/ Fixed
Impulse Response
5
4
3

Amplitude

2
1
0
-1
-2
-3
-4

6
Time (sec)

10

12

6
4
2
0
-2
-4
-6

-5

Second order impulse response Underdamped and Undamped

Increasing

/ Fixed
Impulse Response
5
4
3

Amplitude

2
1
0
-1
-2
-3
-4

6
Time (sec)

10

12

6
4
2
0
-2
-4
-6

-5

Second order step response Underdamped and Undamped

3

output
10+j5
zeta=0.8944

1
2

time sec.

2+j5
zeta=0.3714

time sec.

+j5
zeta=0

time sec.

0.2+j5
0

time sec.

3
40

1.5

output

30

1
10+j0.5
zeta=0.998

1
2

2+j0.5
zeta=0.97

5
time sec.

0
time sec.

10

+j0.5
zeta=0

0.5

0.2+j0.5

20

0
10

10
time sec.

20

10
time sec.

20

Second order impulse response Underdamped and Undamped

Higher frequency oscillations

Faster response

Slower response

Unstable
Lower frequency oscillations

Second order impulse response Underdamped and Undamped

Less damping

Unstable
More damping

Second order step response Time specifications.

1.4

1.2

0.8

0.6

0.4

0.2

0
0

0.5

1.5

2.5

Second order step response Time specifications.

Steady state value.

Time to reach first peak (undamped or underdamped only).
% of
in excess of
.
Time to reach and stay within 2% of
.
Time to rise from 10% to 90% of
.

1.4

1.2

0.8

0.6

0.4

0.2

0
0

0.5

1.5

2.5

Second order step response Time specifications.

Steady state value.

More generally, if the numerator is not

, but some

Second order step response Time specifications.

Peak time.

Therefore,

is the time of the occurrence of the first peak