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Time Response of Second Order Systems - GATE Study Material in PDF

Time Response of Second Order Systems is one of the most important topics for GATE 2017 as direct questions are asked.

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Atul Choudhary
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2K views5 pages

Time Response of Second Order Systems - GATE Study Material in PDF

Time Response of Second Order Systems is one of the most important topics for GATE 2017 as direct questions are asked.

Uploaded by

Atul Choudhary
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Time Response of Second Order Systems GATE Study Material in PDF

To understand Time Response of Second Order Systems, you need this GATE Study
Material. In this free GATE notes, we will deal with the Time Response of Second Order
Systems with respect to a given input. For a first order system, the calculations are pretty
simple. However, with the second order system this is not the case. These GATE Study
Notes will be helpful in your exam preparation for GATE, IES, BSNL, DRDO, BARC etc.
To analyze the time response, various parameters are calculated for the system and are
being dealt with one by one below. The above topic is important for GATE exam as direct
formula based questions are asked from this topic.
However, before moving to Second Order Systems, it is important that you know the basic
concepts of First Order Systems.

Recommended Reads
Block Diagram Algebra in Control Systems
Signal Flow Graph
Stability of Control Systems
Routh Hurwitz Stability Criteria
Special Cases of Routh Hurwitz Criteria

Block Diagram of a Second Order System


The block diagram of a general second order system is being given as

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The system in place is a closed loop control system with negative unity feedback.
The transfer function of a second order system will thus be
C(s)
R(s)

2n
s2 +2n s+2n

Here, n = Undamped natural frequency


= Damping factor.
The characteristic equation of the system under consideration is
s 2 + 2n s + 2n = 0
The roots of this characteristic equation are
s1 , s2 = n n 1 2
= n d
Here d = n 1 2 is called damped natural frequency
Let c(t) = L1 (C(s)) and r(t) = L1 (R(s)).
The time response of the given system will be the value of c(t) at different points of time for
a given input r(t).
We will derive time response of system for r(t) being unit step input. The output response
in this case will be called step response.
r(t) = {

1 t0
0 t<0

In Laplace transform, the step response is given by

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C(s) =

2n
s(s+n Jn 12 )(s+n +Jn 12 )
1

( for unit step input, R(s) = s )


Solving and taking Inverse Laplace transform, we get
c(t) = 1

en t
12

sin [(n 1 2 )t + tan1

12

] for t > 0

(Try to derive above equation yourself)


Now, the system can be undamped, underdamped, critically damped or over-damped.
For undamped system, = 0
Similarly, other value of are
0 < < 1 for under-damped systems.
= 1 for critically damped systems.
> 1 for overdamped systems.
There are different parameters associated with time response of second order system
which will be introduced one by one
Steady state value of c(t), css = lt c(t) = 1
t

It can also be calculated from lt sC(s).


s0

Parameters for Time Response of Second Order Systems


1. Rise Time (tr): It is the time required for the response to rise from 10% to 90% of
the final value for over-damped system and 0 to 100% of the final value for underdamped
systems.
12

For second order system; rise time, t r = tan1 (

It is calculated when c(tr) reaches the value 1 for the first time, i.e. c(tr) = 1.

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2. Peak Time (tp): It is the time required for the response to reach the peak of time
response or the peak of time response or the peak overshoot.
It is calculated by

dc(t)
dt

=0

For second order system, t p =

n 12

3. Peak Overshoot (Mp): It is the normalized difference between the time response
peak and the steady state output.
It is given as, Mp =

c(tp )c()
c()

100%
(

For second order system, Mp = 100 e

)%

12

4. Setting Time (ts): It is the time required for the response to reach and stay within a
specified tolerance load (usually 2% or 5%) of its final value.
4

For second order system, t s =

for 2% of final value.

5. Steady State Error (ess): It indicates the difference between the actual output and
desired output as t tends to infinity.
ess = lt s[R(s) C(s)]
s0

Steady state error of second order system for unit step input, ess = lt (1 c(t)) = 0
t

For same system and unit ramp input, ess = lt (t c(t)) =


t

2
n

For the given second order system; for unit step input the time response is plotted as

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All the parameters described previously are being illustrated above depicting the various
aspects of response.

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