RIZAL TECHNOLOGICAL UNIVERSITY

BONI AVENUE, MANDALUYONG CITY

COLLEGE OF ENGINEERING, ARCHITECTURE, AND TECHNOLOGY

DEPARTMENT OF ELECTRONICS ENGINEERING AND TECHNOLOGY

STEP RESPONSE OF SECOND ORDER OF SYSTEMS

ACTIVITY TITLE
Activity Number: 8

RABINO, LINETH B.
SUBMITTED BY:

MARCH 11, 2022

DATE SUBMITTED:

ENGR. ROWENA NIMUAN

SUBMITTED TO:
 ACTIVITY NO. 8
STEP RESPONSE OF SECOND ORDER SYSTEMS
Objective:
To be able to find and quantitatively describe the step response of second order systems.

Theoretical Discussion:

𝑏
In general, the second order system is represented by G(s) = 2 2 . A more
𝑠 + 𝑎𝑠 + 𝑏
ω𝑛
useful representation is G(s) = 2 2 , where ω𝑛 is called the natural frequency of
𝑠 + 2ςω𝑛𝑠 + ω𝑛

oscillation and ς, is called the damping ratio.

The response of second-order depends on the location of the two system poles.
For pole pair having negative real but distinct values, the response is somewhat similar to first
order response but slightly slower. This response is call overdamped response.
For pole pair having negative real but the same value, the response is faster
−𝑚𝑙
compare to overdamped case because of the presence of 𝐴2𝑡𝑒 term. This response is called
critically damped response.
For pole pair having complex but conjugate values, the response is sinusoidal
with decreasing amplitude. This response is called underdamped response.
For pole pair having imaginary but conjugate values, the response is sinusoidal
with constant amplitude. This response is called undamped response.

Matlab command reviews:

a. Pole-zero map
pzmap(sys) Computes the poles and (transmission) zeros of the LTI model SYS and plots them
in the complex plane. The poles are plotted as x’s and the zeros are plotted as o’s.

pzmap (sys1, sys2, …) shows the poles and zeros of multiple LTI models sys1, sys2, … on a
single plot. You can specify distinctive colors for each model, as in pzmap (sys1, ‘r’, sys2, ‘y’,
sys3, ‘g’).

You can also edit the x and y limits, labels, styles, etc. of the pole zero plot by right-clicking the
mouse anywhere in the plot.

[P, Z] = pzmap (sys) returns the poles and zeros of the system in two column vectors P and Z.
No plot is drawn on the screen.
b. Damping Factor and Natural Frequency
[Wn, Z] = damp(SYS)

[Wn, Z] = damp (sys) returns vector Wn and Z containing the natural frequencies and damping
factors of the LTI model SYS.

[Wn, Z, P] = damp (sys) also returns the poles P of SYS.

When invoked without left-hand arguments, damp prints the poles with their natural
frequency and damping factor in a tabular format on the screen. The poles are sorted by
increasing frequency.

PROCEDURES:
1. For each of the following transfer functions, find the damping ratios and natural
frequencies.

100
a) G(s) = 2
𝑠 −22𝑠+100
100
b) G(s) = 2
𝑠 −20𝑠+100
100
c) G(s) = 2
𝑠 −10𝑠+100
100
d) G(s) = 2
𝑠 +100
100
e) G(s) = 2
𝑠 +10𝑠+100
100
f) G(s) = 2
𝑠 +20𝑠+100
100
g) G(s) = 2
𝑠 +22𝑠+100

System Natural Frequency Damping Ratio

a 6.42, 15.6 -1, -1
b 10 -1
c 10, 10 -5, -5
d 10, 10 0, 0
e 10, 10 0.5, 0.5
f 10 1
g 15.6, 6.42 1, 1
2. Using different colors for each of the system in (1), use Itiviewer or pzmap command

3. Using step command, plot the step response of the system give in (1).
A.
B.

C.
D.

E.
F.

G.
4. Using the Itieview command determine the peak time, percent overshoot,
100
settling time and rise time of G(s)= 2 by right-clicking the mouse
𝑠 +10𝑠+100
anywhere in the plot and selecting the characteristics

% Overshoot Peak time (sec) Rise time(sec) Settling Time(sec)

16.3 0.359 0.164 0.808

5. Create a matlab m file secondordersys.m that will accept ϛ and

Plot the pole- zero map and step response showing %OS, rise time, settling time and
peak time.

Matlab m file:

%Calculate the %OS, Tpeak(sec), Trise(sec),Tsettling(sec)

wn=input('Enter value of wn>')

zeta=input('Enter value of zeta>')
num=[0 0 wn^2]
den=[1 2*zeta*wn wn^2]
T=tf(num,den)
Ts=4/(zeta*wn)
Tp=pi/(wn*sqrt(1-zeta^2))
Tr=((1.76*zeta^3-0.417*zeta^2+1.039*zeta+1)/wn)
percentOS=(exp(-(zeta*pi)/szqrt(1-zeta^2))*100)
subplot(221)
step(T)
'(Pole-Zero Map)'
G=tf([wn^2],[1 2*zeta*wn wn^2]);
subplot(222)
pzmap(G)

6. Test your m file using the following values for and ϛ.

ϛ % OS Tpeak Trise(sec) Tsettling(sec)

10 0.1 72.9248 1.73 0.113 3.84

10 0.2 52.6621 1.53 0.121 1.96
10 0.3 37.2326 1.37 0.132 1.12
10 0.4 25.3827 1.25 0.147 0.841
10 0.5 16.3034 1.16 0.164 0.808
10 0.6 9.4780 1.09 0.186 0.594
1 0.7 4.5988 1.05 2.13 5.98
 2 0.8 1.5165 1.02 1.23 1.88
3 0.9 0.1524 1 0.961 1.57
4 0.1 72.9248 1.73 0.282 9.59
5 0.1 72.9248 1.73 0.225 7.67
6 0.1 72.9248 1.73 0.188 6.4
7 0.1 72.9248 1.73 0.161 5.48
8 0.1 72.9248 1.73 0.141 4.8
9 0.1 72.9248 1.73 0.125 4.26
10 0.1 72.9248 1.73 0.113 3.84

Seatwork:

1. Create a matlab m file ‘underdampedsys.m’ that will accept the parameters σ and ,
nd
for a 2 order underdamped system. The program will output the pzmap and the step
response.

Test the m file using

Damping Constant, σ Damped Frequency,

-1 1
-1 2.5
-1 5
-1 7.5
-1 10
-2.5 1
-5 1
-7.5 1
-10 1
-2.5 2.5
-5 5
-7.5 7.5
-10 10
A.

B.

C.

D.
E.

F.

G.

H.
I.

J.

K.

CBSERVATION
In my observation, when using the script, it allows us to change our encoded data
information even if we're already on a different line, but using the command set off no longer
allows us to replace our encoded data on separate lines.

CONCLUSION
Ringing is used to exhibit a standard step response for a 2d order gadget, demonstrating
overshoot, and all of this subsides within a settling time in this activity. The step reaction of a
device in a given preliminary state includes the temporal development of its outputs, and its
control inputs are Heaviside step functions.
1. Tp = peak time, the time required ton reach the first maximum, peak.

π
Tp = 2
ω𝑛 1−ζ

2. Percent Overshoot,%OS. The amount that the waveform overshoots the steady-state, or final,
value at the peak time, expressed as a percentage of the steady-state value.

%OS = 𝑒
( ) x 100
−
ζπ

1−ζ
2

3. Ts= settling time: The time required for the transient’s damped oscillations to reach, and stay
within ±2% of the steady-state value.
4
Ts = ζω𝑛
4. Tr= rise time, the time required for the waveform to go from 0.1 of the final value to 0.9 of the
final value.

3 2
1.76ζ − 0.417ζ +1.039ζ+1
Tr = ω𝑛