Time Domain Analysis of 2

nd
Order Systems
Introduction
We have already discussed the affect of location of pole on the transient
response of 1
st
order systems.

Compared to the simplicity of a first-order system, a second-order system
exhibits a wide range of responses that must be analysed and described.

Varying a first-order system's parameters (T, K) simply changes the speed
and offset of the response

Whereas, changes in the parameters of a second-order system can
change the 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 (without zeros) is
characterized by the following transfer function.
2 2
2
2
n n
n
s s
s R
s C
e ,e
e
+ +
=
) (
) (
) 2 (
) (
2
n
n
s s
s G
,e
e
+
= Open-Loop Transfer Function
Closed-Loop Transfer Function
Introduction
un-damped natural frequency of the second order system,
which is the frequency of oscillation of the system without
damping.
2 2
2
2
n n
n
s s
s R
s C
e ,e
e
+ +
=
) (
) (
n
e
damping ratio of the second order system, which is a measure
of the degree of resistance to change in the system output.
,
Example#1
4 2
4
2
+ +
=
s s
s R
s C
) (
) (
Determine the un-damped natural frequency and damping ratio
of the following second order system.
4
2
=
n
e
2 2
2
2
n n
n
s s
s R
s C
e ,e
e
+ +
=
) (
) (
Compare the numerator and denominator of the given transfer
function with the general 2
nd
order transfer function.
sec / rad
n
2 = e
s s
n
2 2 = ,e
4 2 2
2 2 2
+ + = + + s s s s
n n
e ,e
5 0. = ,
1 =
n
,e
Introduction
2 2
2
2
n n
n
s s
s R
s C
e ,e
e
+ +
=
) (
) (
The closed-loop poles of the system are
1
1
2
2

+
, e , e
, e , e
n n
n n
Introduction
Depending upon the value of , a second-order system can be set
into one of the four categories:
1
1
2
2

+
, e , e
, e , e
n n
n n
,
1. Overdamped - when the system has two real distinct poles ( >1).
,
-a
-b -c

j
Introduction
According the value of , a second-order system can be set into
one of the four categories:
1
1
2
2

+
, e , e
, e , e
n n
n n
,
2. Underdamped - when the system has two complex conjugate poles (0 < <1) ,
-a
-b -c

j
Introduction
According the value of , a second-order system can be set into
one of the four categories:
1
1
2
2

+
, e , e
, e , e
n n
n n
,
3. Undamped - when the system has two imaginary poles ( = 0). ,
-a
-b -c

j
Introduction
According the value of , a second-order system can be set into
one of the four categories:
1
1
2
2

+
, e , e
, e , e
n n
n n
,
4. Critically damped - when the system has two real but equal poles ( = 1). ,
-a
-b -c

j
Time-Domain Specification
11
For 0< <1 and
n
> 0, the 2
nd
order systems response due to a
unit step input looks like
,
Time-Domain Specification
12
The delay (t
d
) time is the time required for the response to
reach half the final value the very first time.



Time-Domain Specification
13
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.

13
Time-Domain Specification
14
The peak time is the time required for the response to reach
the first peak of the overshoot.
14 14
Time-Domain Specification
15
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.

Time-Domain Specification
16
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%).
S-Plane

j
Natural Undamped Frequency.
n
e
Distance from the origin of s-
plane to pole is natural
undamped frequency in
rad/sec.
S-Plane

j
Let us draw a circle of radius 3 in s-plane.
3
-3
-3
3
If a pole is located anywhere on the circumference of the circle the
natural undamped frequency would be 3 rad/sec.
S-Plane

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

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

j
For Underdamped system therefore,

90 0 < <u
1 0 < < ,
S-Plane

j
For Undamped system therefore,

90 = u
0 = ,
S-Plane

j
For overdamped and critically damped systems
therefore,

0 = u
1 > ,
S-Plane

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

45
707 0 45 . cos = =

,
S-Plane

j
Therefore, s-plane is divided into sections of constant damping
ratio lines.
Example-2
Determine the natural frequency and damping ratio of the poles from the
following pz-map.
-4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0
-1.5
-1
-0.5
0
0.5
1
1.5
0.22 0.42 0.6 0.74 0.84 0.91
0.96
0.99
0.22 0.42 0.6 0.74 0.84 0.91
0.96
0.99
0.5 1 1.5 2 2.5 3 3.5 4
Pole-Zero Map
Real Axis (seconds
-1
)
I
m
a
g
i
n
a
r
y

A
x
i
s

(
s
e
c
o
n
d
s
-
1
)
Example-3
Determine the natural
frequency and damping ratio of
the poles from the given pz-
map.

Also determine the transfer
function of the system and state
whether system is
underdamped, overdamped,
undamped or critically damped.
-3 -2.5 -2 -1.5 -1 -0.5 0 0.5 1 1.5 2
-3
-2
-1
0
1
2
3
0.42 0.56 0.7
0.82
0.91
0.975
0.5
1
1.5
2
2.5
3
0.5
1
1.5
2
2.5
3
0.14 0.28 0.42 0.56 0.7
0.82
0.91
0.975
0.14 0.28
Pole-Zero Map
Real Axis (seconds
-1
)
I
m
a
g
i
n
a
r
y

A
x
i
s

(
s
e
c
o
n
d
s
-
1
)
Example-4
The natural frequency of closed
loop poles of 2
nd
order system is 2
rad/sec and damping ratio is 0.5.

Determine the location of closed
loop poles so that the damping
ratio remains same but the natural
undamped frequency is doubled.
4 2
4
2
2 2 2
2
+ +
=
+ +
=
s s s s
s R
s C
n n
n
e ,e
e
) (
) (
-2 -1.5 -1 -0.5 0 0.5 1
-3
-2
-1
0
1
2
3
0.28 0.38 0.5
0.64
0.8
0.94
0.5
1
1.5
2
2.5
3
0.5
1
1.5
2
2.5
3
0.08 0.17 0.28 0.38 0.5
0.64
0.8
0.94
0.08 0.17
Pole-Zero Map
Real Axis
I
m
a
g
i
n
a
r
y

A
x
i
s
Example-4
Determine the location of closed loop poles so that the damping ratio remains same
but the natural undamped frequency is doubled.
-8 -6 -4 -2 0 2 4
-5
-4
-3
-2
-1
0
1
2
3
4
5
0.5
0.5
2 4
Pole-Zero Map
Real Axis
I
m
a
g
i
n
a
r
y

A
x
i
s
S-Plane
u
1
1
2
2

+
, e , e
, e , e
n n
n n
Step Response of underdamped System
2 2 2 2 2 2
2
2 1
n n n n
n
s s
s
s
s C
e , e e , ,e
,e
+ + +
+
= ) (
The partial fraction expansion of above equation is given as
2 2
2
2 1
n n
n
s s
s
s
s C
e ,e
,e
+ +
+
= ) (
( )
2
2
n
s ,e +
( )
2 2
1 , e
n
( ) ( )
2 2
2
1
2 1
, e ,e
,e
+ +
+
=
n n
n
s
s
s
s C ) (
2 2
2
2
n n
n
s s
s R
s C
e ,e
e
+ +
=
) (
) (
( )
2 2
2
2
) (
n n
n
s s s
s C
e ,e
e
+ +
=
Step Response
Step Response of underdamped System
Above equation can be written as
( ) ( )
2 2
2
1
2 1
, e ,e
,e
+ +
+
=
n n
n
s
s
s
s C ) (
( )
2
2
2 1
d n
n
s
s
s
s C
e ,e
,e
+ +
+
= ) (
2
1 , e e =
n d
Where , 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:
( ) ( )
2
2
2
2
1
d n
n
d n
n
s s
s
s
s C
e ,e
,e
e ,e
,e
+ +

+ +
+
= ) (
Step Response of underdamped System
( ) ( )
2
2
2
2
1
d n
n
d n
n
s s
s
s
s C
e ,e
,e
e ,e
,e
+ +

+ +
+
= ) (
( ) ( )
2
2
2
2
2
2
1
1
1
d n
n
d n
n
s s
s
s
s C
e ,e
, e
,
,
e ,e
,e
+ +

+ +
+
= ) (
( ) ( )
2
2
2
2
2
1
1
d n
d
d n
n
s s
s
s
s C
e ,e
e
,
,
e ,e
,e
+ +

+ +
+
= ) (
t e t e t c
d
t
d
t
n n
e
,
,
e
,e ,e
sin cos ) (

=
2
1
1
Step Response of underdamped System
t e t e t c
d
t
d
t
n n
e
,
,
e
,e ,e
sin cos ) (

=
2
1
1
(
(

+ =

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

2
1
When
0 = ,
t t c
n
e cos ) ( =1
Step Response of underdamped System
(
(

+ =

t t e t c
d d
t
n
e
,
,
e
,e
sin cos ) (
2
1
1
sec / . rad
n
and if 3 1 0 = = e ,
0 2 4 6 8 10
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
Step Response of underdamped System
(
(

+ =

t t e t c
d d
t
n
e
,
,
e
,e
sin cos ) (
2
1
1
sec / . rad
n
and if 3 5 0 = = e ,
0 2 4 6 8 10
0
0.2
0.4
0.6
0.8
1
1.2
1.4
Step Response of underdamped System
(
(

+ =

t t e t c
d d
t
n
e
,
,
e
,e
sin cos ) (
2
1
1
sec / . rad
n
and if 3 9 0 = = e ,
0 2 4 6 8 10
0
0.2
0.4
0.6
0.8
1
1.2
1.4
Step Response of underdamped System
0 1 2 3 4 5 6 7 8 9 10
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
2


b=0
b=0.2
b=0.4
b=0.6
b=0.9
Step Response of underdamped System
0 1 2 3 4 5 6 7 8 9 10
0
0.2
0.4
0.6
0.8
1
1.2
1.4


wn=0.5
wn=1
wn=1.5
wn=2
wn=2.5
Time Domain Specifications of
Underdamped system
Time Domain Specifications
n
s
T t
,e
4
4 = =
n
s
T t
,e
3
3 = =
100
2
1
=

,
t,
e M
p
2
1 , e
t
e
t

= =
n
d
p
t
2
1 , e
u t
e
u t

=
n
d
r
t
Rise Time Peak Time
Settling Time (2%)
Settling Time (4%)
Maximum Overshoot
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 t
r
, peak time t
p
, maximum
overshoot M
p
, and settling time 2% and 5% criterion t
s
when
the system is subjected to a unit-step input.
Example#5
n
s
T t
,e
4
4 = =
100
2
1
=

,
t,
e M
p
d
p
t
e
t
=
d
r
t
e
u t
=
Rise Time Peak Time
Settling Time (2%) Maximum Overshoot
n
s
T t
,e
3
3 = =
Settling Time (4%)
Example#5
d
r
t
e
u t
=
Rise Time
u
2
1
141 3
, e
u

=
n
r
t
.
rad 93 0
1
2
1
. ) ( tan =

=

n
n
,e
, e
u
s t
r
55 0
6 0 1 5
93 0 141 3
2
.
.
. .
=

=
Example#5
n
s
t
,e
4
=
d
p
t
e
t
=
Peak Time
Settling Time (2%)
n
s
t
,e
3
=
Settling Time (4%)
s t
p
785 0
4
141 3
.
.
= =
s t
s
33 1
5 6 0
4
.
.
=

=
s t
s
1
5 6 0
3
=

=
.
Example#5
100
2
1
=

,
t,
e M
p
Maximum Overshoot
100
2
6 0 1
6 0 141 3
=

.
. .
e M
p
% 5 . 9 =
p
M
100 095 . 0 =
p
M
Example#5
Step Response
Time (sec)
A
m
p
l
i
t
u
d
e
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6
0
0.2
0.4
0.6
0.8
1
1.2
1.4
Mp
Rise Time
Example#6
For the system shown in Figure-(a), determine the values of gain K
and velocity-feedback constant K
h
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 K
h
, obtain the rise time and settling time.
Assume that J=1 kg-m
2
and B=1 N-m/rad/sec.
Example#6
Example#6
Nm/rad/sec and Since 1 1
2
= = B kgm J
K s KK s
K
s R
s C
h
+ + +
=
) (
) (
) (
1
2
2 2
2
2
n n
n
s s
s R
s C
e ,e
e
+ +
=
) (
) (
Comparing above T.F with general 2
nd
order T.F
K
n
= e
K
KK
h
2
1 ) ( +
= ,
Example#6
Maximum overshoot is 0.2.
K
n
= e
K
KK
h
2
1 ) ( +
= ,
( ) 2 0
2
1
. ln ) ln( =

,
t,
e
The peak time is 1 sec
d
p
t
e
t
=
2
456 0 1
141 3
.
.

=
n
e
2
1
141 3
1
, e
=
n
.
53 3. =
n
e
Example#6
K
n
= e
K
KK
h
2
1 ) ( +
= ,
96 3. =
n
e
K = 53 3.
5 12
53 3
2
.
.
=
=
K
K
) . ( . .
h
K 5 12 1 5 12 2 456 0 + =
178 0. =
h
K
Example#6
96 3. =
n
e
n
s
t
,e
4
=
n
s
t
,e
3
=
2
1 , e
u t

=
n
r
t
s t
r
65 0. =
s t
s
48 2. =
s t
s
86 1. =
Step Response of critically damped System ( )
The partial fraction expansion of above equation is given as
( )
2
2
n
n
s
s R
s C
e
e
+
=
) (
) (
( )
2
2
n
n
s s
s C
e
e
+
= ) (
Step Response
( ) ( )
2 2
2
n
n
n
n
s
C
s
B
s
A
s s e
e
e
e
+
+
+
+ =
+
( )
2
1 1
n
n
n
s
s s
s C
e
e
e
+

+
= ) (
t e e t c
t
n
t
n n
e e
e

= 1 ) (
( ) t e t c
n
t
n
e
e
+ =

1 1 ) (
1 = ,
Step Response of overdamped and
undamped Systems
Home Work
56
57
Example 10: Describe the nature of the second-order system
response via the value of the damping ratio for the systems with
transfer function
Second Order System
12 8
12
) ( . 1
2
+ +
=
s s
s G
16 8
16
) ( . 2
2
+ +
=
s s
s G
20 8
20
) ( . 3
2
+ +
=
s s
s G
Do them as your own
revision