Second order system

A linear second order system under dynamic condition is given by the differential
equation:-
1 d 2Y 2 dY
  Y  kX
n2 dt 2 n dt
1

n
d 2Y dY
 2  2  Y  kX
dt 2 dt
Where:-
k : Steady state gain
Y : Response value
X : Input disturbing variable
ωn: Natural frequency of oscillation of the system.
Y (0)  Y (0)  0
ξ : Damping factor (damping coefficient)
By taking laplace for the above second order differential equation
 2 s 2Y ( s)  2sY ( s)  Y ( s)  kX ( s)
( 2 s 2  2s  1)Y ( s )  kX ( s )

Y ( s) k
G(s)   2 2 T.F. of second order system
X ( s )  s  2s  1

If x is sudden force, such as, step change inputs, Y will oscillate depending on the
value of damping coefficient ξ .
ξ <1 Response will oscillate (Under damped)
ξ>1 Response will oscillate (Over damped)
ξ=1 Response critical oscillation (critical damped)

Process Dynamics 44 Fourth Class

Dr. Zaidoon M. Shakor Dr. Haider A. Ali
Response of second order system
1) Step change response
A k A k 2 A
X ( s)   Y ( s)  2 2    ……(1)
s  s  2s  1 s 2 1 s
s2  s 2
 
The quadratic term in this equation may be factored into two linear terms that contain
the roots
2 2 4 4 2 4  2 1
  ( ) 
2
 2
s1, 2     2     2  2    2
2  2  2
 2 1

  =Two real roots
 

 2 1
   2 1
s1   and s2   ……(2)
   

Eq. (1) can now be re-written as

kA  2
Y ( s) 
s( s  s1 )( s  s 2 )

ξ>1 Overdamped Two distinct real roots

ξ=1 Critically Damped Two equal real roots
0<ξ<1 Underdamped Two complex roots

k A 0 1 s   2
Y ( s)    
 2 s 2  2s  1 s s  2 s 2  2s  1
 o ( 2 s 2  2s  1)  1s 2   2 s  kA
s0  0  kA
s1 2 0   2  0   2  2kA
s2  0 2   1  0   1  kA 2
1  2 s  2
Y ( s)  kA[  2 2 ]
s  s  2s  1

Process Dynamics 45 Fourth Class

Dr. Zaidoon M. Shakor Dr. Haider A. Ali
  
s2 s2
1
Y ( s )  kA[   1
]  kA[   ]
s  1  2
 2
s  2 1 2
(s  2 s  2 )  2  2 (s  2 s  2 )  2  2
       

s2
1
Y ( s )  kA[   ]
s  2 1  2
(s  ) 
 2

1) For ξ<1 ==> under damped system

  
s2 s 
1
Y ( s )  kA[   1
]  kA[    ]
s  1  2 s  1  2
(s  ) 2  ( ) 2
(s  ) 2  ( )2
   
 
s
1
 kA[     ]
s  1 2 2  1  2 2
(s  ) 2  ( ) (s  ) 2  ( )
   
   1  2
s  
1   1  2 
 kA[   ]
s  2 1 2 2  2 1  2 2
(s  )  ( ) (s  )  ( )
   
(  /  ) t 1 2  (  /  ) t 1  2
Y (t )  kA[1  e cos t e sin t]
 1 2 

1  2
w


Y (t )  kA[1  e (  /  )t (cos wt  sin wt ]
1  2

 1
r p2  q2  1 ( )2 
1  2 1  2

p 1 1  2
  tan 1
 tan 1  tan 1

q  
1  2

Y (t )  kA[1  e (  /  )t (r sin( wt   ))]

Process Dynamics 46 Fourth Class
Dr. Zaidoon M. Shakor Dr. Haider A. Ali
2) For ξ>1 Overdamped system
  
s2  s
1
Y ( s )  kA[   1
]  kA[    ]
s  2 1  2
s  2  2 1
(s  )  2 (s  )  2
   
 
s
 kA[ 
1    ]
s   1 2
2
  1 2
2
(s  ) 2  ( ) (s  ) 2  ( )
   
    2 1
s  
1    2 1 
 kA[   ]
s   1 2
2
  1 2
2
(s  ) 2  ( ) (s  ) 2  ( )
   

sinh wt ] where w    1
2
Y (t )  kA[1  e ( /  )t (cosh wt 
 2 1 

Process Dynamics 47 Fourth Class

Dr. Zaidoon M. Shakor Dr. Haider A. Ali
Terms Used to Describe an Underdamped System
Second order system response for a step change

1.05 b

0.95 b

tp

Figure (8.3) Terms used to describe an underdamped second-order response.

1. Overshoot (OS)
Overshoot is a measure of how much the response exceeds the ultimate value (new
steady-state value) following a step change and is expressed as the ratio in the Fig.
(8-3).
 
OS  exp
1  2 )
OS %  100  OS

2. Decay ratio (DR)

The decay ratio is defined as the ratio of the sizes of successive peaks and is given by
in Fig. (8.3). where C is the height of the second peak
 2
DR  exp  (OS ) 2
1  2

3. Rise time(tr)
This is the time required for the response to first reach its ultimate value and is
labeled in Fig. (8.3).
1  2
  tan 1


tr 
w
Process Dynamics 48 Fourth Class
Dr. Zaidoon M. Shakor Dr. Haider A. Ali
4. Response time
This is the time required for the response to come within ±5 percent of its ultimate
value and remain there. The response time is indicated in Fig. (8.3).

5. Period of oscillation (T)

The radian frequency (radians/time) is the coefficient of t in the sine term; thus,
2
T
1 2

6. Natural period of oscillation

If the damping is eliminated (ξ=0), the system oscillates continuously without
attenuation in amplitude. Under these “natural” or undamped condition, the radian
1
frequency is . This frequency is referred to as the natural frequency wn.

1
wn 

The corresponding natural cyclical frequency fn and period Tn are related by the
expression:-
1 1
fn   Thus, τ has the significance of the undamped period.
Tn 2

7- Time to First Peak(tp ) :

Is the time required for the output to reach its first maximum value.
 
tp  
w 1  2

Figure(8.4) Characteristics of a step response of underdamped second-order system.

Process Dynamics 49 Fourth Class
Dr. Zaidoon M. Shakor Dr. Haider A. Ali
Derivations

1-Over shoot
wt      n

n
t max or min n=1, 2, 3 ……
w

If n=0, 2, 4, 6, …………….  min

If n=1, 3, 5, 7, …………….  max
1st max when n=1
n 
t 
w w

1 
y (t )  kA[1  e w
sin ( w   )]
1  2 w

1 1 2
y max  kA[1  e ( sin  )]
1  2
For Underdampded system
1  2
cos    , sin   1   2
, tan  


1 1 2
 y max  kA[1  e ( 1   2 )]
1  2


1 2
y max  kA[1  e ]
A max  B
Overshoot  
B B

1 2
kA[1  e ]  kA
Overshoot 
kA
 
Overshoot  exp
1 2 )

Process Dynamics 50 Fourth Class

Dr. Zaidoon M. Shakor Dr. Haider A. Ali
2-Decay Ratio
C
Decay ratio  (The ratio of amount above the ultimate value of two sucessive
A
peaks).
n 3
t for n=3 then t 
w w

1 2
First peak at n=1 y max  kA[1  e ]
3
1 2
Second peak at n=3 y max  kA[1  e ]
3 3
 2
1 2 1 2
kA[1  e ]  kA e 1 2
Decay Ratio  
 
e
1 2 1 2
kA[1  e ]  kA e
 2
Decay Ratio  exp
1 2

3. Rise time (tr)

It is the time required for the response to first tauch the ultimate line.
t
1
y (t )  kA[1  e  sin (tw   )]
1  2

At tr y(t)=kA
t
1
kA  kA[1  e 
sin (t r w   )]
1 2

0  sin (t r w   )]
sin 1 (0)  
tr 
w
1  2
n  tan 1

n   
tr   
w w

1 2
  tan 1


tr  for n=1
w

Process Dynamics 51 Fourth Class

Dr. Zaidoon M. Shakor Dr. Haider A. Ali
4-Period of oscillation (T)
1  2
w  Radian frequency 

1
w  2f also T 
f

1 2
f 
2

2
T 
1 2

5. Natural period of oscillation (Tn).

The system free of any damping for ξ=0
1  2 1
w, radian of frequency   wn  for   0
 
1
w n  2f n   2f n

1
fn 
 2

6-Response time(ts)
The time required for the response to reach (±5%) of its ultimate value and remain
there.

7- Time to First Peak (tp )

Is the time required for the output to reach its first maximum value.
n
t
w
First peak is reached when n=1

n  
tp   
w w 1  2

Process Dynamics 52 Fourth Class

Dr. Zaidoon M. Shakor Dr. Haider A. Ali
2- Impulse Response
If impulse δ(t) is applied to second order system then transfer response can be written
as.
k
Y ( s)  2 2 X ( s)
 s  2s  1
X (s)  Area  A
k
Y (s)  .A
 2 s 2  2s  1
kA /  2 kA /  2
Y ( s)  
2 1 2 1  
s 
2
s  2 s2  s  2  ( )2  ( )2
    
kA /  2 kA /  2
 
2  2 1  2  1  2
s 
2
s( )  2 ( ) (s  ) 2  2
     

i) ξ>1
kA   2 1
kA /  2 kA /  2   2 1 
2

Y ( s)   
 2 1  2    2
 
2
   2 1 
2
(s  )  2 (s  ) 2  
1  (s  ) 2  
         
   
t
kA
Y (t )  e  sinh wt
  1
2

 2 1
w

ii)ξ<1
kA  1  2
kA /  2 kA /  2  2 1  2 
Y ( s)   
 1  2  2  1   2 
2
 2  1   2 
2
(s  ) 2  2 (s  )   (s  )  
         
   
t
kA
Y (t )  e  sin wt
 1  2

Process Dynamics 53 Fourth Class

Dr. Zaidoon M. Shakor Dr. Haider A. Ali
 1  2
w


iii)ξ=1
kA /  2 kA /  2 kA /  2
Y (s)   
 1  2 1 1  12 1
(s  ) 2
(s  ) 2  2 (s  ) 2  2
    
kA
Y (t )  te t /
 2

Example: A step change from 15 to 31 psi in actual pressure results in the measured
response from a pressure indicating element shown in Figure.

Assuming second-order dynamics, calculate all important parameters and write and
approximate transfer function in the form
R' ( s ) K
 2 2
P' ( s)  s  2s  1
where R' is the instrument output deviation (mm), P' is the actual pressure deviation
(psi).
Solution:
11.2 mm  8 mm
Gain   0.20 mm / psi
31 psi  15 psi
12.7 mm  11.2 mm
Overshoot   0.47
11.2 psi  8 psi

   
Overshoot  exp   0.47
 1 2 
 
  0.234
2
Period   2.3 sec
1 2

Process Dynamics 54 Fourth Class

Dr. Zaidoon M. Shakor Dr. Haider A. Ali
 1  0.2342
  2.3 sec  0.356 sec
2
R' ( s ) 0.2

P' ( s) 0.127s  0.167 s  1
2

Example: A control system having transfer function is expressed as:

Y (s) 5
G(s)   2 2
X ( s)  s  2s  1
The radian frequency for the control system is 1.9 rad/min. The time constant is 0.5
min. The control system is subjected to a step change of the magnitude 2.
Calculate :
(i) Rise time
(ii) Decay ratio
(iii) Maximum value of Y(t)
Solution:
Given
2
X (s) 
s
Time constant   0.5 min
Radian frequency w  1.9 rad / min
1 2 1 2
w  1.9     0.312
 0.5
i) Rise time
1 2 1  0.3122
  tan 1 3.1416  tan 1
 0.312
tr    1.0 min
w 1.9
C  2  2 0.312
ii) Deacay ratio =  exp( ) = exp( )
A 1 2
1  0.312 2
Decay ratio  0.127
iii) Ultimate value of the response Yultimate (B) at t  
Y ( s) 5

X ( s) 0.25s  0.316s  1
2

2
X (s) 
s
10
Y (s) 
s (0.25s  0.316s  1)
2

10
lim t  Y (t )  lim s0 [ sY ( s)]  lim s0  10
(0.25s  0.316s  1)
2

Process Dynamics 55 Fourth Class

Dr. Zaidoon M. Shakor Dr. Haider A. Ali
 Yultimate (B)  10
B
Maximum value of response  B(1  )
A
B  
Overshoot=  exp( )
A 1 2
Decay ratio=Overshoot2
0.127=Overshoot2
B
overshoot = 0.356 =
A
Maximum value of response =10(1+0.356)=13.56

Process Dynamics 56 Fourth Class

Dr. Zaidoon M. Shakor Dr. Haider A. Ali