BATANGAS STATE UNIVERSITY

College of Engineering, Architecture and Fine Arts

Gov. Pablo Borbon Campus II,
Alangilan, Batangas City, Philippines 4200
www.batstate-u.edu.ph Telefax: (043) 300-4044 locs. 106-108

CHEMICAL AND FOOD ENGINEERING DEPARTMENT

ChE-529
Process Dynamics and Control

Group 6

Bagos, Leonard M.
Caguicla, Roy I.
Gonzalbo, Ronalyn R.
Naling, Kim Harold H.

Engr. Naneth Jacinto

Instructor

March 7, 2017
 HIGHER-ORDER SYSTEMS: SECOND-ORDER

Why Study Second Order Systems?

Second order systems are important for a number of reasons.

They are the simplest systems that exhibits oscillations and overshoot.
Many important systems exhibit second order system behavior.
Second order behavior is part of the behavior of higher order systems and
understanding second order systems helps you to understand higher order systems.

SECOND ORDER SYSTEM

Transfer Function

Basic system called a Second-Order System or a Quadratic Lug.

Second-Order Transfer Function

At this particular instant, the following forces are acting on the block:

1. The force exerted by the spring (toward the left) of -KY where K is a positive
constant, called Hookes Constant.

2. The viscous friction force (acting to the left) of -C dY/dt, where C is a positive
constant called the Damping Coefficient.

3. The external force F(t) (acting toward the right).

Newtons law of motion, which states that the sum of all forces acting on the mass is
equal to the rate of change of momentum (mass X acceleration), takes the form
 By definition, both and must be positive.
The reason for introducing and in the particular form shown in Eq. (8.4) will
become clear when we discuss the solution of Eq. (8.4) for particular forcing
functions X(t).
Equation (8.4) is written in a standard form that is widely used in control theory.
Notice that, because of superposition, X(t) can be considered as a forcing function
because it is proportional to the force F(t).
 If the block is motionless (dYldt = 0) and located at its rest position (Y = 0) before the
forcing function is applied, the Laplace transform of Eq. (8.4) becomes,

From this, the transfer function follows: -

We shall now discuss the response of a second-order system to some of the common forcing
functions, namely, step, impulse, and sinusoidal.

STEP RESPONSE

If the forcing function is a unit-step function

1
X ( s )=
s

follows from the fact that X is defined by the relationship

X(t) = F(t)/K

Superposition will enable us to determine easily the response to a step function of any other
magnitude.

Combining SECOND-ORDER SYSTEM TRANSFER FUNCTION with the forcing function in a

unit-step function gives

1 1
Y ( s )=
s s +2 s +1
2 2

The quadratic term in this equation may be factored into two linear terms that contain the roots

21
s 1= +

21
s 2=

Equation can now be written

1/ 2
Y ( s )=
(s)(ss 1)(ss 2)

s1
The response of the system Y(t) can be found by inverting the equation above. The roots

s 2 will be real or complex depending on the parameter . The nature of the roots will,
and
in turn, affect the form of Y(t).

CASE I Step Response for <1

For this case, the inversion of equation obtain:

1/ 2
Y ( s )=
(s)(ss 1)(ss 2)

gives the result

1 1
2
Y ( t )=1
1
1 2
et / sin ( 2t
1 + tan )

The nature of the response can be understood most clearly by plotting, where Y(t) is plotted
against the dimensionless variable t/ for several values of , including those above unity,
which will be considered in the next section.

Note that, for < 1, all the response curves are oscillatory in nature and become less
oscillatory as is increased.
The slope at the origin is zero for all values of .
 The response of a second-order system for < 1 is said to be under-damped.

CASE II Step Response for =1

For this case, the inversion of equation obtain

1/ 2
Y ( s )=
(s)(ss 1)(ss 2)

gives the result

Y ( t )=1 1+( t ) et /

The response is nonoscillatory.

 This condition, = 1, is called critical dumping and allows most rapid approach of the
response to Y = 1 without oscillation.

CASE III Step Response for >1

For this case, the inversion of

2
1/
Y ( s )=
(s)(ss 1)(ss 2)

gives the result

t t
(
Y ( t )=1e t / cosh 21 + 2
1
sinh 21
)
where the hyperbolic functions are defined as

ea ea
sinh a=
2

e a +ea
cosh a=
2

The response is nonoscillatory and becomes more sluggish as increases.

This is known as an over-dumped response. As in previous cases, all curves

eventually approach the line Y = 1

Terms Used to Describe an Underdamped System

Of these three cases, the underdamped response occurs most frequently in control systems.
Hence a number of terms are used to describe the underdamped response quantitatively.
Equations for some of these terms are listed below for future reference.
1. Overshoot

Overshoot is a measure of how much the response exceeds the ultimate value following a step
change and is expressed as the ratio A/B.

The overshoot for a unit step is related to by the expression

(
Overshoot=e 1
2 )

2. Decay Ratio

The decay ratio is defined as the ratio of the sizes of successive peaks and is given by C/A.

The decay ratio is related to by the expression

2
(
Decay ratio=e 1
2 )

3. Rise Time

This is the time required for the response to first reach its ultimate value and is labeled tr.

4. Response Time
This is the time required for the response to come within 5 percent of its ultimate value and

remain there. The limits 5 percent are arbitrary, and other limits have been used in other

texts for defining a response time.

5. Period of Oscillation

The radian frequency (radians/time) is the coefficient of t in the sine term; thus,

, radian frequency=
1 2

Since the radian frequency w is related to the cyclical frequency f by =2 f , it follows

that

1 1
f= = 1 2
T 2

where T is the period of oscillation (time/cycle).

6. Natural Period of Oscillation

If the damping is eliminated the system oscillates continuously without attenuation in amplitude.
Under these natural or undamped conditions, the radian frequency is 1/

In summary, it is evident that is a measure of the degree of damping, or the oscillatory

character, and is a measure of the period, or speed, of the response of a second-order
system.

IMPULSE RESPONSE

Since the unit step function,(t), is closely related to the unit impulse, (t), it should not be
surprising that the unit impulse response (the response of a system to a unit impulse) is also
closely related to the unit step response. To develop this relationship, consider first the unit
step response of a system.

In this diagram the input is the unit step function,(t), and the output is the unit step
response, y(t). If we multiply the input in Laplace by "s" (i.e., we differentiate the input step
function in time), we also multiply the output by "s" (or differentiate the step output).

The impulse response of the system is given by the system transfer function. For this
reason, the impulse response is often called h(t).
Key Concept: The impulse response of a system is given by the transfer function.
If the transfer function of a system is given by H(s), then the impulse response of a system is
given by h(t) where h(t) is the inverse Laplace Transform of H(s).

A less significant concept is that the impulse response is the derivative of the step response.

If a unit impulse s(t) is applied to the second-order system, the transform of the response is

As in the case of the step input, the nature of the response to a unit impulse will depend
on whether the roots of the denominator are real or complex.
Case I : Impulse Response for < 1

Case II : Impulse Response for = 1

 For the critically damped case, the response is given by

Case III : Impulse Response for > 1

For the overdamped case, the response is given by

To summarize, the impulse-response curves in the figure show the same general
behavior as the step-response curves. However, the impulse response always returns to zero.
Terms such as decay ratio, period of oscillation, etc., may also be used to describe the impulse
response. Many control systems exhibit transient responses.

SINUSOIDAL RESPONSE

If the forcing function applied to the second-order system is sinusoidal,

X(t) = Asin t

then,

(8.36)

The inversion of Eq. (8.36) may be accomplished by first factoring the two quadratic terms to
give
 (8.37)
s1 and s2 - roots of the denominator of the transfer function

For the case of an underdamped system the roots of the denominator

are a pair of pure imaginary roots

We may write the form of the response Y(t) by referring to Fig. 3.1 and Table 3.1; thus

(8.38)

The constants are evaluated by partial fractions. Notice in Eq. (8.38) that, as t , only the
first two terms do not become zero. These remaining terms are the ultimate periodic solution;
thus

(8.39)
Eq. 8.39 is also true for

If constants C1 and C2 are evaluated, we get from eq. (5.23) and (8.39)

(8.40)

where

By comparing Eq. (8.40) with the forcing function

X(t) = Asin t

it is seen that:
1. The ratio of the output amplitude to the input amplitude is
 this may be greater or less than 1, depending on and . This is in direct contrast to
the sinusoidal response of the first order system, where the ratio of the output amplitude
to the input amplitude is always less than 1.

2. The output lags the input by phase angle . It can be seen from Eq. (8.40) that
approaches 180 asymptotically as increases. The phase lag of the first-order system,
on the other hand, can never exceed 90.