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 2 TIME RESPONSE

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 ∞ ∞

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 ∞) = 0

ANALYSIS OF SECOND ORDER SYSTEM

R(s) ωn2 C(s)

S2 + 2ξωnS

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 T(s) = ωn2
S2 + 2ξωnS+ωn2

ωn = natural angular frequency (rad/sec)

ξ = damping ratio/damping factor

D(s) = S2 + 2ξωnS+ωn2 ( characterstics equation)

Signifance of damping ratio:-

 Damping ratio defines the perfomance of 2nd order system.

 Damping ratio describe the stability of 2nd order system.
 Damping ratio describes the time constant of 2nd order system.
 For ξ = 0, all roots lies on the imaginary axis in the form of complex
conjugate i.e. represent the marginally stable system.
 For ξ = (+)ve , all roots lies in the left hand side of s-plane.
 For ξ = (-)ve , all roots lies in the right hand side of s-plane.

UNIT IMPULSE RESPONSE OF SECOND ORDER SYSTEM:-

r(t) =

R(s) =1 ωn2 C(s)

S2 + 2ξωnS

C(s) = ωn2
S2 + 2ξωnS+ωn2

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 ξ = 0 {undamped oscillation}

c(t) = ωn sinωnt u(t)

C(t)

ωn

0 π 2π
ωnt

ξ<1 {underdamped oscillation}

C(s) = ωn2
S2 + 2ξωnS+ωn2

_____
S = -ξωn + jωn√1- ξ2

_______
ωd = ωn√1- ξ2 rad/sec

jω
x jωd

σ
-
ξωn

x jωd

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 c(t) = ___ωn_ e-αtsin ωdt
√1- ξ2

α = ξωn (damping factor)

C(t)

0 t

ξ =1 {Critically damped }

C(s) = ωn2
S2 + 2ξωnS+ωn2

c(t) = ωn2 te-ωnt

jω

σ
*
-ωn ,-ωn

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 C(t)

0.368

0
tO = 1sec t

ξ >1 {overdamped damped }

C(s) = ωn2
S2 + 2ξωnS+ωn2

_______ ____
C(t) = (ξωn - jωn√ ξ -1 ) e
2 -(ξωn - ωn√ ξ2-1)t

C(t)
_______
(ξωn - jωn√ ξ -1)
2

0 t

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 jω

jωn (ξ =0)

(0<ξ <1) jωd (-1<ξ <0)

(ξ =1) (ξ >1) σ

(ξ >1)

-jωd

-jωn (ξ =0)

 Angle of Inclination {cosθ}

jω

jωd

θ σ

-ξωn

-jωd

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  Step Response of 2nd order system

R(s) = 1/S ωn2 C(s)

S2 + 2ξωnS

ξ<1 {underdamped oscillation}

C(t) = (1- e-ξωntsin (ωdt+θ) )u(t)

√1-ξ2

jω

X jωd

σ
-ξωn

X -jωd

C(t)

0 t

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 ξ =0 {undamped oscillation}

C(t) = 1- cosωnt

C(t)

0 π 2π t

ξ = 1 {critically damped}

C(t) = ( 1- e-ωnt- ωnte-ωnt)u(t)

C(t)

0 t

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 ξ > 1 {critically damped}
__
C(t) = 1- e-(ξωn - ωn√ ξ2-1 )t

C(t)

0 t

 Time Domain Parameter Of 2nd Order System :-

C(t)
tsett

0.5

td tr tp t

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 1. Delay time (td):- is the time required to reach at 50% of its final value
by a time response signal during its first cycle of oscillation.

td = 1+ 0.7ξ
ωn

2. Rise time (tr) :- is the time required to reach at final value by a under
damped time response signal during its first cycle of oscillation. If the
signal is over damped, then rise time is counted as the time required by
the response to rise from 10% to 90% of its final value.

tr = π - θrad
ωd

3. Peak time (tp) :- is simply the time required by response to reach its
first peak i.e. the peak of first cycle of oscillation, or first overshoot.
On differentiating the expression of c(t) we can obtain the expression
for peak time. dc(t)/ dt = 0 we have expression for peak time,

tp = π
ωd

4. Maximum overshoot (Mp) :- is straight way difference between the

magnitude of the highest peak of time response and magnitude of its
steady state. Maximum overshoot is expressed in term of percentage of
steady state value of the response. As the first peak of response is
normally maximum in magnitude, maximum overshoot is simply
normalized difference between first peak and steady-state value of a
response.

Maximum overshoot (%Mp) = c(tp) - c(∞)

c(∞)

√
%Mp = e-πξ/ 1- ξ2

5. Settling time (ts):- is the time required for a response to become

steady. It is defined as the time required by the response to reach and
steady within specified range of 2% to 5% of its final value.

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 ts = 4 ( 2% error band)
ξ ωn

ts = 3 ( 5% error band)
ξ ωn

 Steady state error for unity feedback system:-

R(s) ωn2 C(s)

S2 + 2ξωnS

Error coefficient Steady State error(ess)

Type

Kv = limSG(s) Kp=limS2G(s)
u(t) tu(t) t2u(t)
Kp= limG(s)
S→0 S→0 S→0 2

0 K 0 0 1 ∞ ∞
K

1 ∞ K 0 0 1 ∞
K

2 ∞ ∞ K 0 0 1
K

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