Time Response

Second-Order Systems
Unit 3: Time Response, Part 2: Second-Order Responses

Engineering 5821: Control Systems I
Faculty of Engineering & Applied Science Memorial University of Newfoundland
January 28, 2010
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Unit 3: Time Response
Characteristics of Underdamped Systems
Second-order systems (systems described by second-order DEs) have transfer functions of the following form:
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Second-order systems (systems described by second-order DEs) have transfer functions of the following form: G (s ) = b s 2 + as + b
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(This TF may also be multiplied by a constant K , which aects the exact constants of the time-domain signal, but not its form).
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(This TF may also be multiplied by a constant K , which aects the exact constants of the time-domain signal, but not its form). Depending upon the factors of the denominator we get four categories of responses.
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(This TF may also be multiplied by a constant K , which aects the exact constants of the time-domain signal, but not its form). Depending upon the factors of the denominator we get four categories of responses. If the input is the unit step, a pole at the origin will be added which yields a constant term in the time-domain.
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Category Overdamped
Poles Two real: 1 , 2
c (t ) K1 e 1 t + K2 e 2 t
Category Overdamped Underdamped
Poles Two real: 1 , 2 Two complex: d j d
c (t ) K1 e 1 t + K2 e 2 t Ae d t cos(d t )
Category Overdamped Underdamped Undamped
Poles Two real: 1 , 2 Two complex: d j d Two imaginary: j n
c (t ) K1 e 1 t + K2 e 2 t Ae d t cos(d t ) A cos(n t )
Category Overdamped Underdamped Undamped Critically damped
Poles Two real: 1 , 2 Two complex: d j d Two imaginary: j n Repeated real: d
c (t ) K1 e 1 t + K2 e 2 t Ae d t cos(d t ) A cos(n t ) K1 e d t + K2 te d t
We can characterize the response of second-order systems using two parameters: n and
We can characterize the response of second-order systems using two parameters: n and Natural Frequency, n : This is the frequency of oscillation without damping.
We can characterize the response of second-order systems using two parameters: n and Natural Frequency, n : This is the frequency of oscillation without damping. For example, the natural frequency of an RLC circuit with the resistor shorted, or of a mechanical system without dampers.
We can characterize the response of second-order systems using two parameters: n and Natural Frequency, n : This is the frequency of oscillation without damping. For example, the natural frequency of an RLC circuit with the resistor shorted, or of a mechanical system without dampers. An undamped system is described by its natural frequency.
We can characterize the response of second-order systems using two parameters: n and Natural Frequency, n : This is the frequency of oscillation without damping. For example, the natural frequency of an RLC circuit with the resistor shorted, or of a mechanical system without dampers. An undamped system is described by its natural frequency. Damping Ratio, : This measures the amount of damping.
We can characterize the response of second-order systems using two parameters: n and Natural Frequency, n : This is the frequency of oscillation without damping. For example, the natural frequency of an RLC circuit with the resistor shorted, or of a mechanical system without dampers. An undamped system is described by its natural frequency. Damping Ratio, : This measures the amount of damping. For underdamped systems lies in the range [0, 1]:
We can characterize the response of second-order systems using two parameters: n and Natural Frequency, n : This is the frequency of oscillation without damping. For example, the natural frequency of an RLC circuit with the resistor shorted, or of a mechanical system without dampers. An undamped system is described by its natural frequency. Damping Ratio, : This measures the amount of damping. For underdamped systems lies in the range [0, 1]:
Damping ratio is dened as follows:
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Damping ratio is dened as follows: = Exponential decay frequency Natural frequency
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Damping ratio is dened as follows: = = Exponential decay frequency Natural frequency |d | n
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The exponential decay frequency d is the real-axis component of the poles of a critically damped or underdamped system.
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The exponential decay frequency d is the real-axis component of the poles of a critically damped or underdamped system. We now describe the general second-order system in terms of n and .
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The exponential decay frequency d is the real-axis component of the poles of a critically damped or underdamped system. We now describe the general second-order system in terms of n and . b G (s ) = 2 s + as + b
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The exponential decay frequency d is the real-axis component of the poles of a critically damped or underdamped system. We now describe the general second-order system in terms of n and . b G (s ) = 2 s + as + b In other words we want to get the relationships from n and to a and b .
ENGI 5821 Unit 3: Time Response
The exponential decay frequency d is the real-axis component of the poles of a critically damped or underdamped system. We now describe the general second-order system in terms of n and . b G (s ) = 2 s + as + b In other words we want to get the relationships from n and to a and b . Why? Because n and are more meaningful and useful for design.
If there were no damping, we would have a pure sinusoidal response.
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If there were no damping, we would have a pure sinusoidal response. Thus, the poles would be on the imaginary axis and the TF would have the form,
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If there were no damping, we would have a pure sinusoidal response. Thus, the poles would be on the imaginary axis and the TF would have the form, G (s ) = s2 b +b
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If there were no damping, we would have a pure sinusoidal response. Thus, the poles would be on the imaginary axis and the TF would have the form, G (s ) = The poles are at s = j b . s2 b +b
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The poles are at s = j b . The natural frequency is governed by the position of the poles on the imaginary axis.
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The poles are at s = j b . The natural frequency is governed by the position of the poles on the imaginary axis. Therefore, n = b .
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The poles are at s = j b . The natural frequency is governed by the position of the poles on the imaginary axis. Therefore, n = b . 2 b = n
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Consider an underdamped system with poles d j d .
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Consider an underdamped system with poles d j d . The exponential decay frequency is d .
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Consider an underdamped system with poles d j d . The exponential decay frequency is d . For a general second-order system the denominator is s 2 + as + b and the roots have real part d = a/2.
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Consider an underdamped system with poles d j d . The exponential decay frequency is d . For a general second-order system the denominator is s 2 + as + b and the roots have real part d = a/2. We apply the denition for :
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Consider an underdamped system with poles d j d . The exponential decay frequency is d . For a general second-order system the denominator is s 2 + as + b and the roots have real part d = a/2. We apply the denition for : = Exponential decay frequency Natural frequency
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Consider an underdamped system with poles d j d . The exponential decay frequency is d . For a general second-order system the denominator is s 2 + as + b and the roots have real part d = a/2. We apply the denition for : = |d | Exponential decay frequency = n Natural frequency
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Consider an underdamped system with poles d j d . The exponential decay frequency is d . For a general second-order system the denominator is s 2 + as + b and the roots have real part d = a/2. We apply the denition for : = |d | a/2 Exponential decay frequency = = n n Natural frequency
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Thus, a = 2n .
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Thus, a = 2n . We can now describe the second-order system as follows:
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Thus, a = 2n . We can now describe the second-order system as follows: 2 n G (s ) = 2 2 s + 2n s + n
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Thus, a = 2n . We can now describe the second-order system as follows: 2 n G (s ) = 2 2 s + 2n s + n Poles: s1,2 = n n 2 1
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e.g. Describe the category of the following systems:
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n =
b,
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n =
b, =
a/2 n
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n =
b, =
a/2 n
a 2 b
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n =
b, =
a/2 n
a 2 b
(a) = 1.155
= Overdamped
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n =
b, =
a/2 n
a 2 b
(a) = 1.155 (b) = 1
= Overdamped
= Critically damped
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n =
b, =
a/2 n
a 2 b
(a) = 1.155 (b) = 1
= Overdamped
= Critically damped = Underdamped
(c) = 0.894
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Underdamped systems are very common and we will focus in particular on designing compensators for underdamped systems later in the course.

Underdamped systems are very common and we will focus in particular on designing compensators for underdamped systems later in the course.

Underdamped systems are very common and we will focus in particular on designing compensators for underdamped systems later in the course. Consider the step response for a general second-order system:

Underdamped systems are very common and we will focus in particular on designing compensators for underdamped systems later in the course. Consider the step response for a general second-order system: C (s ) =
2 n 2) s (s 2 + 2n s + n

Underdamped systems are very common and we will focus in particular on designing compensators for underdamped systems later in the course. Consider the step response for a general second-order system: C (s ) = =
2 n 2) s (s 2 + 2n s + n K1 K2 s + K3 s + 2) s s (s 2 + 2n s + n

We solve for K1 , K2 , K3 then take the ILT:

We solve for K1 , K2 , K3 then take the ILT: c (t ) = 1 e n t cos(n 1 2t ) + 1 2 sin(n 1 2t )

We solve for K1 , K2 , K3 then take the ILT: c (t ) = 1 e n t cos(n = 1 1 1 2 1 2t ) + 1 2 sin(n 1 2t )
e n t cos(n
1 2 t )

We solve for K1 , K2 , K3 then take the ILT: c (t ) = 1 e n t cos(n = 1 1 1 2 1 2t ) + 1 2 sin(n 1 2t )
e n t cos(n
1 2 t )
where = tan1 / 1 2 .
Although the two parameters n and completely characterize the form of the underdamped response, we usually specify the response with the following derived parameters:
Although the two parameters n and completely characterize the form of the underdamped response, we usually specify the response with the following derived parameters: Peak time, Tp : The time required to reach the rst (maximum) peak.
Although the two parameters n and completely characterize the form of the underdamped response, we usually specify the response with the following derived parameters: Peak time, Tp : The time required to reach the rst (maximum) peak. Percent overshoot, %OS : The amount that the response exceeds the nal value at Tp .
Although the two parameters n and completely characterize the form of the underdamped response, we usually specify the response with the following derived parameters: Peak time, Tp : The time required to reach the rst (maximum) peak. Percent overshoot, %OS : The amount that the response exceeds the nal value at Tp . Settling time, Ts : The time required for the oscillations to die down and stay within 2% of the nal value.
Although the two parameters n and completely characterize the form of the underdamped response, we usually specify the response with the following derived parameters: Peak time, Tp : The time required to reach the rst (maximum) peak. Percent overshoot, %OS : The amount that the response exceeds the nal value at Tp . Settling time, Ts : The time required for the oscillations to die down and stay within 2% of the nal value. Rise time, Tr : The time to go from 10% to 90% of the nal value.
Consider determining Tp , the time required to reach the rst peak.
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Consider determining Tp , the time required to reach the rst peak. At the peak, the derivative is zero.
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Consider determining Tp , the time required to reach the rst peak. At the peak, the derivative is zero. Thus, we can solve for the value of t for which c (t ) = 0.
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Consider determining Tp , the time required to reach the rst peak. At the peak, the derivative is zero. Thus, we can solve for the value of t for which c (t ) = 0. We do this dierentiation in the FD:
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Consider determining Tp , the time required to reach the rst peak. At the peak, the derivative is zero. Thus, we can solve for the value of t for which c (t ) = 0. We do this dierentiation in the FD: C (s ) =
2 n 2) s (s 2 + 2n s + n
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2 n 2) s (s 2 + 2n s + n 2 d n c (t ) sC (s ) = 2 2 dt s + 2n s + n
C (s )
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C (s )
We now nd the ILT to obtain c (t ) and proceed to nd the times at which c (t ) = 0.
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C (s )
We now nd the ILT to obtain c (t ) and proceed to nd the times at which c (t ) = 0. COVERED ON BOARD
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C (s )
We now nd the ILT to obtain c (t ) and proceed to nd the times at which c (t ) = 0. COVERED ON BOARD Tp = n 1 2
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Percent overshoot is dened as follows,
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Percent overshoot is dened as follows, cmax cnal %OS = 100 cnal
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Percent overshoot is dened as follows, cmax cnal %OS = 100 cnal If the input is a unit step, cnal = 1.
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Percent overshoot is dened as follows, cmax cnal %OS = 100 cnal If the input is a unit step, cnal = 1. c (t ) = 1 e n t cos(n 1 2t ) + 1 2 sin(n 1 2t )
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Percent overshoot is dened as follows, cmax cnal %OS = 100 cnal If the input is a unit step, cnal = 1. c (t ) = 1 e n t cos(n cmax = c (Tp ) 1 2t ) + 1 2 sin(n 1 2t )
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Percent overshoot is dened as follows, cmax cnal %OS = 100 cnal If the input is a unit step, cnal = 1. c (t ) = 1 e n t cos(n cmax = c (Tp ) = 1 + e (/ 1 2t ) +
1 2 )
1 2
sin(n
1 2t )
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1 2 )
1 2
sin(n
1 2t )
We obtain,
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1 2 )
1 2
sin(n
1 2t )
We obtain, %OS = e (/
1 2 )
100
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1 2 )
1 2
sin(n
1 2t )
We obtain, %OS = e (/ This relationship is invertible,

1 2 )
100
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1 2 )
1 2
sin(n
1 2t )
We obtain, %OS = e (/ This relationship is invertible, = ln(%OS /100) 2 + ln2 (%OS /100)
1 2 )
100
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The settling time Ts is the time required for c (t ) to reach and stay within 2% of the nal value.
The settling time Ts is the time required for c (t ) to reach and stay within 2% of the nal value. c (t ) = 1 1 1 2 e n t cos(n 1 2 t )
Consider just the exponential envelope of c (t ),
Consider just the exponential envelope of c (t ), 1 1 2 e n t
Solve for the time at which the envelope decays to 0.02
Solve for the time at which the envelope decays to 0.02 1 1 2 e n t = 0.02
Solve for the time at which the envelope decays to 0.02 1 1 Ts = 2 e n t = 0.02
ln(0.02 1 2 ) n
ln(0.02 1 2 ) 4 n n
ln(0.02 1 2 ) 4 n n
Note that this is a conservative estimate since the sinusoid might actually reach and stay within 2% earlier.
There is no analytical form for Tr (time to go from 10% to 90% of nal value).
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There is no analytical form for Tr (time to go from 10% to 90% of nal value). This value can be calculated numerically and has been formed into a table:
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There is no analytical form for Tr (time to go from 10% to 90% of nal value). This value can be calculated numerically and has been formed into a table:
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Relationship to Pole Plot

The following is the pole plot for a general second-order system:


d = n is the real part of the pole and is called the exponential decay frequency.

d = n is the real part of the pole and is called the exponential decay frequency. d = n 1 2 is the imaginary part and is called the damped frequency of oscillation.

d = n is the real part of the pole and is called the exponential decay frequency. d = n 1 2 is the imaginary part and is called the damped frequency of oscillation. Notice the following:

d = n is the real part of the pole and is called the exponential decay frequency. d = n 1 2 is the imaginary part and is called the damped frequency of oscillation. Notice the following: n is the distance to the origin

d = n is the real part of the pole and is called the exponential decay frequency. d = n 1 2 is the imaginary part and is called the damped frequency of oscillation. Notice the following: n is the distance to the origin cos =
We can relate Tp , Ts , and %OS to the locations of the poles.
We can relate Tp , Ts , and %OS to the locations of the poles. Tp = n 1 2
We can relate Tp , Ts , and %OS to the locations of the poles. Tp = n 1 2 = d
We can relate Tp , Ts , and %OS to the locations of the poles. Tp = n 1 2 = d Ts = 4 n
We can relate Tp , Ts , and %OS to the locations of the poles. Tp = n 1 2 = d Ts = 4 4 = n d
We can relate Tp , Ts , and %OS to the locations of the poles. Tp = n 1 2 = d Ts = 4 4 = n d %OS = f ( )
Tp = /d
Ts = 4/d
Tp = /d
Ts = 4/d
Design Example
Given the system below, nd J and D to yield 20% overshoot and a settling time of 2 seconds for a step input torque T (t ).
The transfer function must rst be determined,
Design Example
The transfer function must rst be determined, G (s ) = s2 1/J +D Js +

K J
Relating to the standard form of a second-order systems we have,
Design Example

K J
Relating to the standard form of a second-order systems we have, n = K J
Design Example

K J
Relating to the standard form of a second-order systems we have, n = K J 2n = D J
Design Example

K J
The specication of 20% overshoot allows us to calculate = 0.456.
Design Example

K J
The specication of 20% overshoot allows us to calculate = 0.456. The specication of Ts = 2 allows us to calculate n = 2.
Design Example

K J
The specication of 20% overshoot allows us to calculate = 0.456. The specication of Ts = 2 allows us to calculate n = 2. From these values we can easily calculate D = 1.04 and J = 0.26.

Time Response

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Second-Order Systems

Unit 3: Time Response, Part 2: Second-Order Responses

January 28, 2010

Unit 3: Time Response

Characteristics of Underdamped Systems

Unit 3: Time Response

Characteristics of Underdamped Systems

Unit 3: Time Response

Characteristics of Underdamped Systems

Unit 3: Time Response

Characteristics of Underdamped Systems

Unit 3: Time Response

Characteristics of Underdamped Systems

Unit 3: Time Response

Poles Two real: 1 , 2

Category Overdamped Underdamped

Poles Two real: 1 , 2 Two complex: d j d

Category Overdamped Underdamped Undamped

Poles Two real: 1 , 2 Two complex: d j d Two imaginary: j n

Category Overdamped Underdamped Undamped Critically damped

Poles Two real: 1 , 2 Two complex: d j d Two imaginary: j n Repeated real: d

Characteristics of Underdamped Systems

Damping ratio is dened as follows:

Unit 3: Time Response

Characteristics of Underdamped Systems

Damping ratio is dened as follows: = Exponential decay frequency Natural frequency

Unit 3: Time Response

Characteristics of Underdamped Systems

Damping ratio is dened as follows: = = Exponential decay frequency Natural frequency |d | n

Unit 3: Time Response

Characteristics of Underdamped Systems

Damping ratio is dened as follows: = = Exponential decay frequency Natural frequency |d | n

Unit 3: Time Response

Characteristics of Underdamped Systems

Damping ratio is dened as follows: = = Exponential decay frequency Natural frequency |d | n

Unit 3: Time Response

Characteristics of Underdamped Systems

Damping ratio is dened as follows: = = Exponential decay frequency Natural frequency |d | n

Unit 3: Time Response

Characteristics of Underdamped Systems

Damping ratio is dened as follows: = = Exponential decay frequency Natural frequency |d | n

Characteristics of Underdamped Systems

Damping ratio is dened as follows: = = Exponential decay frequency Natural frequency |d | n

Characteristics of Underdamped Systems

If there were no damping, we would have a pure sinusoidal response.

Unit 3: Time Response

Characteristics of Underdamped Systems

Unit 3: Time Response

Characteristics of Underdamped Systems

Unit 3: Time Response

Characteristics of Underdamped Systems

Unit 3: Time Response

Characteristics of Underdamped Systems

Unit 3: Time Response

Characteristics of Underdamped Systems

Unit 3: Time Response

Characteristics of Underdamped Systems

Unit 3: Time Response

Characteristics of Underdamped Systems

Consider an underdamped system with poles d j d .

Unit 3: Time Response

Characteristics of Underdamped Systems

Consider an underdamped system with poles d j d . The exponential decay frequency is d .

Unit 3: Time Response