EE-379

LINEAR CONTROL SYSTEMS

Lecture No 8, 9

“CONTROL SYSTEMS ENGINEERING”

Text Book: Chapter 4 (6th Ed)
• Second Order Systems

Instructor: Dr. Iftikhar AHMAD

Class: BEE 5D
Electrical Engineering Department

1
Example: RLC Circuit with DC input

 1 
V ( s )   Ls  R   I (s)
 Cs 
Vs I (s)

1
 2 RL 1
s

V ( s ) Ls  R  1 s  L s  LC
Cs

I (s) s
 2 RL 1
V ( s ) s  L s  LC R  R  1
2

s1      
Characteristic polynomial
2L  2 L  LC
2
R  R  1
s  s
2 R
L
1
LC 0 s2  
2L
   
 2 L  LC
Characteristic equations 2
Mechanical Example of IInd order
B K
X ( s) 1

F ( s) MS 2  BS  K Mass (M)

1
X ( s) M
 x(t)
F ( s) S 2  B S  K f(t)

M M

B K
S2  S  0 characteristic equation
M M

2
B  B  K
s1,2     
2M  2M  M

3
 Four possible solutions of 2nd order
characteristic equations

1: Roots are Real and Distinct

2: Roots are Real and repeated
3: Roots are Complex
4: Roots are Imaginary

4
Case 1: Roots are Real and Distinct

s1,2  1.146,  7.854

Over damped response:

Poles: two real poles S1 and S2.
Natural response: two exponentials
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Case 2: Roots are Real and repeated

s1,2  3,  3

Critically damped response:

Poles: two real poles at -3
Natural response: an exponential and product of time, t, and an
exponential
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Case 3: Roots are Complex
t
 8 
c(t )  1  e  cos 8 t  sin 8 t 
 8 
c(t )  1  1.06 e t cos  8 t  19.47o 

s1,2  1  j 8

s1,2  n  jn 1   2

Under damped response:
Poles: two complex poles at s1 and s2
Natural response: damped sinusoid
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Case 4: Roots are Imaginary

s1,2   j 3

s1,2  n  jn 1   2

Undamped response:
Poles: two imaginary poles at s1, s2
Natural response: sustained oscillations at 3 rad/sec
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• The step responses for the four cases of damping
• The critically damped response is the division between the overdamped
and underdamped cases and is the fastest response without overshoot

9
 The General Second-Order System
Natural Frequency, ωn
The natural frequency of a second-order system is the
frequency of oscillation of the system without damping.

Damping Ratio, ζ
Ratio of exponential decay frequency to the natural
frequency (Sinusoidal oscillation).

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 The General Second-Order System
Standard form of the 2nd-order TF is given by: 2
a a
C ( s) Kb s1,2      b
G( s)   2 2 2
R( s) s  as  b
s1,2  n  n   n2
2

C (s) K n2
G( s)   2 s1,2  n  jn 1   2
R( s ) s  2n s  n2

The two quantities ζ and ωn can be used to describe the

characteristics of the second-order transient response just as
time constants describe the first-order system response.
n, the natural frequency , is the frequency of oscillation of the
2nd order system without damping
, the damping ratio, determines how fast the oscillations
decay to steady state value 10
TIME RESPONSE OF SECOND-
ORDER SYSTEM
 & n
s1,2  n  jn 1   2

>1 <1
s1  s2 ( real  distinct , overdamped ) s    jn (complex, underdpd )

=0
=1
s1  s2  s s   jn (Im g , un  dpd )
critically, dpd

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 Second-Order System
• General form:
Kn2
G s  2
s  2n s  n2
Where,
K : Gain
ζ : Damping ratio
n : Undamped natural frequency

• Roots of denominator:
s 2  2n s  n2  0

s1,2  n  n  2  1

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 Second-Order System
 Problem: For each of the transfer function, find the values of ζ
and n, as well as characterize the nature of the response.

G s  
400
a)
s 2  12s  400

G s   2
900
b)
s  90s  900 Kn2
G s  2
s  2n s  n2
G s   2
225
c)
s  30s  225

G s   2
625
d)
s  625

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 Step Response Analysis of
Under-damped Second-Order Systems
(Roots real & distinct)
objectives
• Define transient specifications associated with
under-damped responses
• Relate these specifications to the pole location,
(i.e draw an association between pole location and
the form of second-order response)
• Tie the pole location to system parameters

Desired response generates required system

components.

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 Second-order underdamped Response
Specifications
• Rise time, Tr
The time required for the waveform to go from 0.1 of the
final value to 0.9 of the final value.
• Peak time, Tp
The time required to reach the first, or maximum, peak.
• Percent overshoot, %OS
The amount that the waveform overshoots the final value,
expressed as a percentage of the final value
• Settling time, Ts
The time required for the transient's oscillations to reach
and stay within ±2% of the steady-state value.
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 C ( s) n2
 2
R( s) s  2n s  n2
1 n2 
For step input C ( s)   2 
s  s  2n s  n2 
Finding 𝐾1 , 𝐾2 , 𝐾3 by partial fraction, yields

Taking inverse Laplace Transform we get:

c(t )  1 
1
1  2 
e nt cos n 1   2 t   
17
 Transient Response Specifications
c(t )  1 
1
1  2 
e nt cos n 1   2 t   
c(t) plotted as function of time
for given values of ζ and ωn

overshoot

• Rise time, Tr.

• Peak time, Tp.
• Percent overshoot, %OS.
• Settling time, Ts.

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 Second-order underdamped responses
for damping ratio values from .1 to .8

c(t )  1 
1
1  2 
e nt cos n 1   2 t   

The lower the value of ζ, the more oscillatory the response.

19
 Evaluation of Tp
C ( s) n2 1 n2 
 2 For step input C ( s)   2 
R( s) s  2n s  n2 s  s  2n s  n2 
n2
L c(t )  sC ( s )  2
s  2n s  n2
n
c(t )  e nt sin n 1   2 t
1  2
Setting the derivative equal to zero

n 1   2 t  n
n Slope of c(t) at t = 0 is zero
t
n 1   2 At n = 1, t = Tp

 
Tp  
n 1   2 d
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 22
Evaluation of %OS %OS 
cmax  c final
100
c final

n t
  
c(t )  1  e  cos n 1   t 
2
sin n 1   t 
2
 1  2 
 

Tp 
n 1   2

cmax  c(Tp )  1  e

  1 2   cos    
sin  
 1  2 
 

cmax  1 e

  1 2  For unit step input cfinal = 1

%OS  e

  / 1 2  100
 ln  %OS /100 
 
 2  ln 2  %OS /100 
%OS  e

  / 1 2  100

OS  e

  / 1 2 


ln OS    / 1   2 
 ln OS    2 2 / 1   2
2

       2 2
2 2
ln OS  2
ln OS

 ln OS 
2
  2
 2
  ln OS 
2

ln OS
 
   ln OS 
2 2

 ln  %OS / 100 
 
 2  ln 2  %OS / 100  22
Percent overshoot vs damping ratio

%OS  e

  / 1 2  100

23
 Evaluation of Ts
c(t )  1 
1
1  2 
e nt cos n 1   2 t   
Ts : the time for which c(t) reaches and stays
within ±2% of the steady-state value.
Or
Ts is the time it takes for the amplitude of the
decaying sinusoid to reach 0.02

1
e nt  0.02
1  2

Ts 

 ln 0.02 1   2 
n

4
Ts  the numerator of Ts varies from 3.91 to 4.74 as ζ
n varies from 0 to 0.9 and is thus approximated as 4 25
Evaluation of Tr
Precise analytical relationship between rise time and damping ratio, ζ,
cannot be found.
n t
  
c(t )  1  e  cos n 1   t 
2
sin n 1   t 
2
   2 
 1 
nt

if n  10

and   0.5

from the grapgh

nt  1.63
t  Tr  0.163 sec

25
Pole plot for the underdamped second-order system

n2
G( s)  2
s  2n s  n2

s1,2  n  jn 1   2

n   d
n 1   2  d

n
 d : the damping exponential frequency  cos 
n
d : the damped frequency of oscillation
  cos  27
Time Response and Pole Locations
cont..

Constant real part but varying imaginary part

TS

Which parameter (τ ,TS,, %OS) remains constant?

28
Time Response and Pole Locations
cont..

Constant imaginary part

Envelope ?


Tp 
d
Which parameter (τ ,TP,, %OS) remains constant? 29
Time Response and Pole Locations
cont..

Constant damping ratio

30
30
31
From the problem
statement As

For 20% overshoot

Thus

32