Linear Control Systems

Spring 2024
Time Domain Analysis of 2nd Order Systems
 Introduction
The time response of a control system consists of two
parts:

1. Transient response 2. Steady-state response

- from initial state to the final - the manner in which the
state – purpose of control system output behaves as t
systems is to provide a desired approaches infinity – the error
response. after the transient response has
decayed, leaving only the
continuous response.

2
 Time-Domain Specification
For 0< <1 and ωn > 0, the 2nd order system’s response due to a
unit step input looks like

3
 Time-Domain Specification
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

4
 Time-Domain Specification
• 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%).

5
 Time-Domain Specification
• The delay (td) time is the time required for the response to
reach half the final value the very first time.

6
 Time-Domain Specification
• 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.
 Time-Domain Specification
• The peak time is the time required for the response to reach
the first peak of the overshoot.

8
8
 Introduction
• A general second-order system is characterized by
the following transfer function.

C( s )  n2
 2
R( s ) s  2 n s   n2
Second – Order System
C (s) n 2
T (s)   2
R ( s ) s  2n s  n 2

Mapping the poles into s-plane

10
 Introduction
C( s )  n2
 2
R( s ) s  2 n s   n2
n un-damped natural frequency of the second order system, which
is the frequency of oscillation of the system without damping.

 damping ratio of the second order system, which is a measure

of the degree of resistance to change in the system output.
 S-Plane
• Natural Undamped Frequency.

jω
• Distance from the origin of s-
plane to pole is natural
undamped frequency in n
rad/sec.
δ
 S-Plane
• Let us draw a circle of radius 3 in s-plane.

• If a pole is located anywhere on the circumference of the circle the

natural undamped frequency would be 3 rad/sec.

jω

-3 3
δ

-3
 S-Plane
• Therefore the s-plane is divided into Constant Natural
Undamped Frequency (ωn) Circles.

jω

δ
 S-Plane
• Damping ratio.

• Cosine of the angle between jω

vector connecting origin and
pole and –ve real axis yields
damping ratio.

δ
  cos 
 S-Plane
• Draw a vector connecting origin of s-plane and some point P.

jω
P

45
δ

  cos 45  0.707

 S-Plane
• Therefore, s-plane is divided into sections of constant damping
ratio lines.

jω

δ
 Example-2
• Determine the natural frequency and damping ratio of the poles from the
following pz-map. Pole-Zero Map
1.5
0.91 0.84 0.74 0.6 0.42 0.22

0.96
1

0.99
Imaginary Axis (seconds-1)

0.5

4 3.5 3 2.5 2 1.5 1 0.5

0

-0.5
0.99

-1
0.96

0.91 0.84 0.74 0.6 0.42 0.22

-1.5
-4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0
 Example-3
Pole-Zero Map
3
3
0.7 0.56 0.42 0.28 0.14
• Determine the natural frequency 2.5

and damping ratio of the poles 2 0.82

2
from the given pz-map. 1.5
0.91
1
• Also determine the transfer

Imaginary Axis (seconds-1)

1

function of the system and state 0.975 0.5

whether system is
0
underdamped, overdamped,
undamped or critically damped. 0.975 0.5
-1
1
0.91
1.5
-2 0.82
2

2.5
0.7 0.56 0.42 0.28 0.14
-3
-3 -2.5 -2 -1.5 -1 -0.5 30
 Example-4
• The natural frequency of closed Pole-Zero Map
3
loop poles of 2nd order system is 2 3
0.5 0.38 0.28 0.17 0.08 2.5

rad/sec and damping ratio is 0.5. 2

0.64
2

1.5
0.8
1
• Determine the location of closed 1
0.94 0.5

Imaginary Axis
loop poles so that the damping 0
ratio remains same but the natural 0.94 0.5
undamped frequency is doubled. -1
1
0.8
1.5
-2
2
0.64

C( s )  n2 4 0.5 0.38 0.28 0.17 0.08 2.5

 2 2
 2 -3
-2 -1.5 -1 -0.5 30
R( s ) s  2 n s   n s  2s  4 Real Axis
 Example-4
Determine the location of closed loop poles so that the damping ratio remains same
but the natural undamped frequency is doubled.
Pole-Zero Map
5

4
0.5
3

2
Imaginary Axis

1
4 2
0

-1

-2

-3
0.5
-4

-5
-8 -6 -4 -2 0 2 4
Effect of different damping ratio, ξ

Increasing ξ

23
 Example #1
• Determine the un-damped natural frequency and damping ratio
of the following second order system.

C( s ) 4
 2
R( s ) s  2 s  4

• Compare the numerator and denominator of the given transfer

function with the general 2nd order transfer function.
C( s )  n2
 2
R( s ) s  2 n s   n2

 n2  4   n  2 rad / sec
 2 n s  2 s
  n  1
s 2  2 n s   n2  s 2  2 s  4
   0. 5
 Introduction
• According the value of  , a second-order system can be set into one
of the four categories:
1. Overdamped - when the system has two real distinct poles (  >1).
jω

δ
-c -b -a

s1, 2  n  n  2  1
 Introduction

2. Underdamped - when the system has two complex conjugate poles (0 <  <1)
jω

δ
-c -b -a

s1, 2  n  jd , d   n 1   2

 Introduction
3. Undamped - when the system has two imaginary poles (  = 0).
jω

δ
-c -b -a

s = ± jw
 Introduction
4. Critically damped - when the system has two real but equal poles ( = 1).
jω

δ
-c -b -a

s1, 2  n
 Step Response of underdamped System
C( s )  n2 Step Response  n2
 2 C( s ) 
R( s ) s  2 n s   n2 
s s 2  2 n s   n2 
• The partial fraction expansion of above equation is given as

1 s  2 n
C( s )   2
s s  2 n s   n2

 n2 1   2 
1 s  2 n
C( s )   2
s  2 n 2 s s  2 n s   2 n2   n2   2 n2

1 s  2 n
C( s )  

s s   n 2   n2 1   2 
 Derivation for Time Response Analysis, Max
Overshoot, Rise time, Settling Time and Peak time
 Derivation for C(t)
Final Expression is as follows

  
c(t )  1  e  nt cos d t  sin d t 
 1  2 
 Step Response of underdamped System
1 s  2 n
C( s )  

s s   n 2   n2 1   2 
• Above equation can be written as
1 s  2 n
C( s )  
s s   n 2   d2
• Where  d   n 1   2 , 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:
1 s   n  n
C( s )   
s s   n    d s   n 2   d2
2 2
Step Response of underdamped System
1 s   n  n
C( s )   
s s   n    d s   n 2   d2
2 2


n 1   2
1 s   n 1 2
C( s )   
s s   n    d
2 2
s   n 2   d2
1 s   n  d
C( s )   
s s   n    d
2 2
1 2 s   2   2
n d

 n t 
c(t )  1  e cos  d t  e  nt sin  d t
1 2
 Step Response of underdamped System
 n t 
c(t )  1  e cos  d t  e  nt sin  d t
1 2

  
c(t )  1  e  nt cos  d t  sin  d t 
 1   2 
 

• When   0
d  n 1   2
 n

c(t )  1  cos  n t
 Step Response of underdamped System
  
c(t )  1  e  nt cos  d t  sin  d t 
 1   2 
 
if   0. 1 and  n  3 rad / sec
1.8

1.6

1.4

1.2

0.8

0.6

0.4

0.2

0
0 2 4 6 8 10
 Step Response of underdamped System
  
c(t )  1  e  nt cos  d t  sin  d t 
 1   2 
 
if   0. 5 and  n  3 rad / sec
1.4

1.2

0.8

0.6

0.4

0.2

0
0 2 4 6 8 10
 Step Response of underdamped System
  
c(t )  1  e  nt cos  d t  sin  d t 
 1   2 
 
if   0. 9 and  n  3 rad / sec
1.4

1.2

0.8

0.6

0.4

0.2

0
0 2 4 6 8 10
Step Response of underdamped System
2
b=0
1.8 b=0.2
b=0.4
1.6
b=0.6
b=0.9
1.4

1.2

0.8

0.6

0.4

0.2

0
0 1 2 3 4 5 6 7 8 9 10
Step Response of underdamped System
1.4

1.2

0.8
wn=0.5
0.6 wn=1
wn=1.5
wn=2
0.4 wn=2.5

0.2

0
0 1 2 3 4 5 6 7 8 9 10
Time Domain Specifications of
Underdamped system
 Time Domain Specifications (Maximum Overshoot)

  
 n t p
c(t p )  1  e cos  d t p  sin  d t p 
 1   2 
 

c( )  1
   

M p  1  e n p  cos  d t p  sin  d t p   1  100
 t
  1   2  
   

Put tp  in above equation
d
  n    
M p   e d  cos    
sin 
 
 100
  d
d 2
d 
 d 
  1   
 Time Domain Specifications (Maximum Overshoot)
  n   
 cos       100
M p   e d
 d  sin  d 
 d 1 2  d
  
Put ωd  ωn 1-ζ 2 in above equation
  n  
  
 n 1 2  cos     100
M p   e  sin  
2
  1 
   

M p   e
1 2
 1  0  100
 



1 2
Mp e  100
 Time Domain Specifications (Rise Time)
  
c(t )  1  e  nt cos  d t  sin  d t 
 1   2 
 
Put t  t r in above equation
  
c(t r )  1  e  nt r cos  d t r  sin  d t r 
 1   2 
 
Where c(t r )  1
  
0  e  nt r cos  d t r  sin  d t r 
 1   2 
 
  
 e  nt r  0 0  cos  d t r  sin  d t r 
 1   2 
 
 Time Domain Specifications (Rise Time)
  
cos  d t r  sin  d t r   0
 1   2 
 
above equation can be re - writen as

1 2
sin  d t r   cos  d t r


1 2
tan  d t r  


 1   2 
 d t r  tan 1   

 
 
 Time Domain Specifications (Rise Time)

 1   2 
 d t r  tan 1   

 
 


1   1 2 
tr  tan 1   n 

d   n
 

1 a
  tan
b
 Time Domain Specifications (Peak Time)
  
c(t )  1  e  nt cos  d t  sin  d t 
 1   2 
 
• In order to find peak time let us differentiate above equation w.r.t t.

dc(t )      
 n t  
  n e cos  d t  sin  d t   e n   d sin  d t 
 t d
cos  d t 
dt  1 2   1 2 
   

  2 n  d 
 n t 
0e  n cos  d t  sin  d t   d sin  d t  cos  d t 
 1 2 1 2 
 

  2
  1   2 
0  e  nt  n cos  d t  n
sin  d t   d sin  d t  n cos  d t 
 1   2
1   2 
 
 Time Domain Specifications (Peak Time)
  2
  1   2 
 n t 
0e  n cos  d t  n
sin  d t   d sin  d t  n
cos  d t 
 1   2
1   2 
 
  2 
e  nt  n
sin  d t   d sin  d t   0
 1 2 
 

  2 
e  nt  0  n
sin  d t   d sin  d t   0
 1 2 
 

  2 
sin  d t  n
 d   0
 1 2 
 
 Time Domain Specifications (Peak Time)
  2 
sin  d t  n
 d   0
 1 2 
 
  2 
 n
 d   0
 1 2  sin  d t  0
 

 d t  sin 1 0

0,  , 2 , 
t
d
• Since for underdamped stable systems first peak is maximum peak
therefore,

tp 
d
S-Plane


Time Domain Specifications (Settling Time)
  
c(t )  1  e  n t cos  d t  sin  d t 
 1   2 
 

1
T 
 n
 Time Domain Specifications (Settling Time)
• Settling time (2%) criterion
• Time consumed in exponential decay up to 98% of the input.

4
t s  4T  T 
1
 n  n

• Settling time (5%) criterion

• Time consumed in exponential decay up to 95% of the input.
3
t s  3T 
 n
 Summary of Time Domain Specifications
Peak Time Maximum Overshoot

 
tp   

d  1   2 1 2
n Mp e  100

Settling Time (2%)

4
t s  4T 
 n
3
t s  3T 
 n
Settling Time (4%)
 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 tr, peak time tp, maximum
overshoot Mp, and settling time 2% and 5% criterion ts when
the system is subjected to a unit-step input.
 Example#5
Step Response
1.4

1.2 Mp

0.8
Amplitude

0.6

0.4

Rise Time
0.2

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6
Time (sec)
 Example#6
• For the system shown in Figure-(a), determine the values of gain K
and velocity-feedback constant Kh 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 Kh, obtain the rise time and settling time.
Assume that J=1 kg-m2 and B=1 N-m/rad/sec.
Example#6
 Example#6

Since J  1 kgm 2 and B  1 Nm/rad/sec

C( s ) K
 2
R( s ) s  (1  KK h )s  K
• Comparing above T.F with general 2nd order T.F

C( s )  n2
 2
R( s ) s  2 n s   n2

(1  KK h )
n  K  
2 K
 Example#6
(1  KK h )
n  K  
2 K
• Maximum overshoot is 0.2. • The peak time is 1 sec


tp 
d
3. 141
1

 n 1   2
)  ln 0. 2 
1 2
ln( e
3. 141
n 
1  0. 456 2

 n  3.53
 Example#6
 n  3.96

(1  KK h )
n  K  
2 K
3. 53  K 0. 456  2 12. 5  (1  12. 5 K h )

3. 532  K K h  0. 178

K  12. 5
 Example#6
 n  3.96

4
ts 
 n

t r  0. 65s t s  2. 48s

3
ts 
 n
t s  1. 86 s
 Example#7
When the system shown in Figure(a) is subjected to a unit-step input,
the system output responds as shown in Figure(b). Determine the
values of a and c from the response curve.

a
s( cs  1)
 Example#8
Figure (a) shows a mechanical vibratory system. When 2 lb of force
(step input) is applied to the system, the mass oscillates, as shown in
Figure (b). Determine m, b, and k of the system from this response
curve.
 Example#9
Given the system shown in following figure, find J and D to yield 20%
overshoot and a settling time of 2 seconds for a step input of torque
T(t).
Example#9
Example#9
 Step Response of critically damped System (  1 )
C( s )  n2 Step Response  n2
 C( s ) 
R( s ) s   n 2 s s   n 
2

• The partial fraction expansion of above equation is given as

 n2 A B C
  
s s   n  s s   n s   n 2
2

1 1 n
C( s )   
s s   n s   n 2

c(t )  1  e nt   n e nt t

c(t )  1  e nt 1   n t 
 Step Response of overdamped and
undamped Systems
• Home Work
68
 Second – Order System
Example 10: Describe the nature of the second-order system
response via the value of the damping ratio for the systems with
transfer function

12
1. G ( s )  2
s  8s  12

16
2. G ( s )  2 Do them as your own
s  8s  16 revision

20
3. G ( s )  2
s  8s  20

69