Feedback Control Systems (FCS)

Lecture-22-23-24
Time Domain Analysis of 2nd Order Systems
Dr. Imtiaz Hussain
email:
imtiaz.hussain@faculty.muet.edu.pk
URL
:http://imtiazhussainkalwar.weebly.co
m/

Introduction
We have already discussed the affect of location of poles and
zeros on the transient response of 1 st order systems.
Compared to the simplicity of a first-order system, a secondorder system exhibits a wide range of responses that must be
analyzed and described.
Varying a first-order
changes the speed and
Whereas, changes in
system can change the

system's parameter (T, K) simply

offset of the response
the parameters of a second-order
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.

Introduction
A general second-order system is
characterized by the following transfer
function.

n2
C (s )
2
R(s ) s 2 n s n2

Introduction
n2
C (s )
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.

Example#1
Determine the un-damped natural frequency and
damping ratio of the following second order system.
C (s )
4
2
R(s ) s 2 s 4
Compare the numerator and denominator of the given
transfer function with the general 2nd order transfer function.

n2
C (s )
2
R(s ) s 2 n s n2

n2 4

n 2 rad / sec

s 2 2 n s n2 s 2 2 s 4

2 n s 2 s
n 1
0.5

Introduction
n2
C (s )
2
R(s ) s 2 n s n2
Two poles of the system are

n n 2 1
n n 2 1

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).
j

-c

-b

-a

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)
j

-c

-b

-a

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).
j

-c

-b

-a

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:

equal
4. Critically damped - when the system has two real but
poles (

= 1).

-c

-b

-a

Time-Domain Specification

For 0<
<1 and n > 0, the 2nd order systems
response due to a unit step input looks like

11

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

12

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.

14
14

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.

15

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%).

16

S-Plane
Natural Undamped Frequency.

Distance
from
the
origin of s-plane to pole
is natural undamped
frequency in rad/sec.

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.
j
3

-3

-3

S-Plane
Therefore the s-plane is divided into Constant
Natural Undamped Frequency (n) Circles.
j

S-Plane
Damping ratio.
Cosine of the angle
between
vector
connecting origin and
pole and ve real axis
yields damping ratio.

cos

S-Plane
0 1

For Underdamped system

0 90
therefore,
j

S-Plane
For Undamped system
90

0
therefore,

S-Plane
For overdamped and critically damped systems
0
therefore,
0
j

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

45

cos45 0.707

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

Example-2
Determine the natural frequency and damping ratio of the
poles from the following pz-map.
Pole-Zero Map
1.5

Imaginary Axis (seconds-1)

0.5

-0.5

-1

-1.5
-4

-3.5

-3

-2.5

-2

-1.5

-1

-0.5

Example-3
Pole-Zero Map

Determine the natural

frequency and damping
ratio of the poles from the
given pz-map.
Imaginary Axis (seconds-1)

Also
determine
the
transfer function of the
system and state whether
system is underdamped,
overdamped, undamped
or critically damped.

-1

-2

-3
-3

-2.5

-2

-1.5

-1

-0.5

Example-4
The natural frequency of
closed loop poles of 2nd order
system is 2 rad/sec and
damping ratio is 0.5.

Pole-Zero Map

Imaginary Axis

Determine the location of

closed loop poles so that the
damping ratio remains same
but the natural undamped
frequency is2 doubled.
n
C (s )
4
2
2
2
R(s ) s 2 n s n
s 2s 4

-1

-2

-3
-2

-1.5

-1

-0.5
Real Axis

Example-4
Determine the location of closed loop poles so that the damping
ratio remains same but the natural undamped frequency is
Pole-Zero Map
doubled.
5
4
3

Imaginary Axis

2
1
0
-1
-2
-3
-4
-5

-8

-6

-4

-2

S-Plane
n n 2 1
n n 2 1

Step Response of underdamped System

n2
C (s )
2
R(s ) s 2 n s n2

Step Response

C (s )

n2

s s 2 2 n s n2

The partial fraction expansion of above equation is

given as
s 2 n
1
C (s ) 2
s s 2 n s n2

n2 1 2

s 2 n 2

s 2 n
1
C (s ) 2
s s 2 n s 2 n2 n2 2 n2
s 2 n
1
C (s )
s s n 2 n2 1 2

Step Response of underdamped System

s 2 n
1
C (s )
s s n 2 n2 1 2

Above equation can be written as

s 2 n
1
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:
s

1
C (s )

n
2

s n 2 d2 s n

d2

Step Response of underdamped System

s n
n
1
C (s )

2
2
s s n d s n 2 d2

n 1 2

1 2
s n
1
C (s )

2
2
s s n d
s n 2 d2

s n
d
1

C (s )

2
2
2 s 2 2
s s n d
1
n
d
c(t ) 1 e

n t

cos d t

1 2

e nt sin d t

Step Response of underdamped System

c(t ) 1 e

n t

cos d t

1 2

e n t sin d t

c(t ) 1 e n t cos d t
sin d t
2

When 0

d n 1 2
n

c(t ) 1 cos n t

Step Response of underdamped System

c(t ) 1 e n t cos d t
sin d t
2

if 0.1

and n 3 rad / sec

1.8
1.6
1.4
1.2
1
0.8
0.6
0.4
0.2
0

10

Step Response of underdamped System

c(t ) 1 e n t cos d t
sin d t
2

if 0.5

and n 3 rad / sec

1.4
1.2
1
0.8
0.6
0.4
0.2
0

10

Step Response of underdamped System

c(t ) 1 e n t cos d t
sin d t
2

if 0.9

and n 3 rad / sec

1.4
1.2
1
0.8
0.6
0.4
0.2
0

10

Step Response of underdamped System

2
b=0
b=0.2
b=0.4
b=0.6
b=0.9

1.8
1.6
1.4
1.2
1
0.8
0.6
0.4
0.2
0

10

Step Response of underdamped System

1.4
1.2
1
0.8
wn=0.5
wn=1
wn=1.5
wn=2
wn=2.5

0.6
0.4
0.2
0

10

Time Domain Specifications of

Underdamped system

Time Domain Specifications (Rise

Time)

c(t ) 1 e nt cos d t
sin d t
2

Put t t r in above equation

c(t r ) 1 e nt r cos d t r
sin d t r
2

Where c(t r ) 1

0 e n t r cos d t r
sin d t r
2

e nt r 0

0 cos d t r
sin d t r
2

Time Domain Specifications (Rise

Time)

cos d t r

1 2

sin d t r 0

above equation can be re - writen as

1 2
sin d t r
cos d t r

1 2
tan d t r

2
1

d t r tan1

Time Domain Specifications (Rise Time)

2
1

d t r tan1

1 2
1
tr
tan1 n
d
n

tr
d

tan

a
b

Time Domain Specifications (Peak Time)

c(t ) 1 e nt cos d t
sin d t
2

In order to find peak time let us differentiate above

equation w.r.t t.

dc(t )

n t

t
d
n e
cos d t
sin d t e n d sin d t
cos d t

dt
1 2
1 2

0e

n t

n cos d t

2 n
1 2

2 n

sin d t d sin d t

0 e nt n cos d t
sin d t d sin d t
2

d
1 2

n 1 2
1 2

cos d t

cos d t

Time Domain Specifications (Peak Time)

0e

n t

n cos d t

2 n
1 2

sin d t d sin d t

n 1 2

n
e nt
sin d t d sin d t 0
1 2

e nt 0

2
n

1 2

sin d t d sin d t 0

sin d t

2
n

1 2

d 0

1 2

cos d t

Time Domain Specifications (Peak Time)

2
n

sin d t
2
n

1 2

d 0

1 2

d 0

sin d t 0

d t sin 1 0
0, , 2 ,
t
d
Since for underdamped stable systems first peak is
maximum peak therefore,

tp

Time Domain Specifications (Maximum

Overshoot)

c(t p ) 1 e

n t p

cos d t p

1 2

sin d t p

c() 1

t
M p 1 e n p cos d t p
sin d t p

Put

1 100

tp
in above equation
d

Mp e

cos
d

2
d
1

sin d
100

Time Domain Specifications (Maximum

Overshoot)

Mp e

Put

cos
d

2
d
1

sin d
100

d n 1- 2 in above equation

Mp e

cos

n 1 2

Mp e

1 2

1 2

Mp e

1 0

100

sin 100

1 2

100

Time Domain Specifications

(Settling Time)

c(t ) 1 e nt cos d t
sin d t
2

1
n

n n 2 1
Real Part

Imaginary Part

Time Domain Specifications

(Settling Time)
Settling time (2%) criterion
Time consumed in exponential decay up to 98%
of the input.

4
t s 4T
n

1
n

Settling time (5%) criterion

Time consumed in exponential decay up to 95%
of the input.

3
t s 3T
n

Summary of Time Domain

Specifications
Rise Time

tr

2
d
n 1

Peak Time

tp

d 1 2
n

Settling Time (2%)

4
t s 4T
n

3
t s 3T
n
Settling Time (4%)

Maximum Overshoot

Mp e

1 2

100

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.

Example#5
Rise Time

Peak Time

tp
d

tr
d
Settling Time (2%)

4
t s 4T
n

3
t s 3T
n
Settling Time (4%)

Maximum Overshoot

Mp e

1 2

100

Example#5
Rise Time

tr
d
tr

3.141

n 1

tan1 ( n
) 0.93 rad
n

tr

3.141 0.93
5 1 0.6 2

0.55s

Example#5
Peak Time

Settling Time (2%)

4
ts
n

tp
d
3.141
tp
0.785s
4

4
ts
1.33s
0.6 5
Settling Time (4%)

3
ts
n
3
ts
1s
0.6 5

Example#5
Maximum Overshoot

Mp e

Mp e

1 2

100

3.1410.6
1 0.6 2

100

M p 0.095 100
M p 9.5%

Example#5
Step Response

1.4

1.2

Mp

Amplitude

0.8

0.6

0.4

Rise Time
0.2

0.2

0.4

0.6

0.8
Time (sec)

1.2

1.4

1.6

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.

Example#6

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

n2
C (s )
2
R(s ) s 2 n s n2
n K

(1 KK h )
2 K

Example#6
n K
Maximum overshoot is 0.2.

(1 KK h )
2 K

The peak time is 1 sec

tp
d
1

ln(e

1 2

) ln 0.2

3.141

n 1 2

3.141
1 0.456 2

n 3.53

Example#6
n 3.96

n K
3.53 K
3.532 K
K 12.5

(1 KK h )
2 K

0.456 2 12.5 (1 12.5 K h )

K h 0.178

Example#6

tr

n 3.96

4
ts
n

n 1 2

t s 2.48s

t r 0.65s

3
ts
n
t s 1.86 s

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)

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.

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).

Example#9

Example#9

Step Response of critically damped System

(
1
)
n2
C (s )

R(s ) s n 2

Step Response

C (s )

n2

s s n

The partial fraction expansion of above equation is

given as
n2
A
B
C

2
s s n s n 2
s s n
n
1
1
C (s )

s s n s n 2
c(t ) 1 e nt n e nt t
c(t ) 1 e n t 1 n t

Step Response of overdamped and

undamped Systems
Home Work

71

Second Order System

Example 10: 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

Do them as your
own revision

20
3. G ( s ) 2
s 8s 20
72

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END OF LECTURES-22-2324