11/4/21, 3:02 PM Response of Second Order System

Response of Second Order System

In this chapter, let us discuss the time response of second order system. Consider the following
2
2
ω
ωn
block diagram of closed loop control system. Here, an open loop transfer function, n
is
s
s((s
s++2
2δδω
ωn )
n)

connected with a unity negative feedback.

We know that the transfer function of the closed loop control system having unity negative feedback
as

C
C((s
s)) G
G((s
s))
=
=
R
R((s
s)) 1
1++G
G((s
s))

2
2
ω
ωn
Substitute, G
G((s
s)) =
=
n
in the above equation.
s
s((s
s++2
2δδω
ωn )
n)

2
2
ω
ωnn
(
( )
) 2
2
C
C((s
s)) s
s((s
s++2
2δδω
ωn )
n)
ω
ωnn
=
= =
=
2
2 2
ω 2
2 2
R
R((s
s)) ωn s
s +
+22δ
δωωn s + ωn
n s + ωn
n
1
1++(
( )
)
s
s((s
s++2
2δδω
ωn )
n)

The power of ‘s’ is two in the denominator term. Hence, the above transfer function is of the second
order and the system is said to be the second order system.
The characteristic equation is -

2
2 2
2
s
s +
+22δ
δωωn s + ωn =
n s + ωn = 0
0

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11/4/21, 3:02 PM Response of Second Order System

The roots of characteristic equation are -

−
− −
−−
− −
− −
− −− −−−
−−
− −
−−
−
2 2
2 − − −−−
−
−22ω
ωδδn ±
± √
√((2
2 δ
δ ω
ω )
)
2
−
− 44ω
ω − −
2
−−−
n n 2
n n n −
−22(
(δδω
ωn ± ω n√
n ± ωn
√δδ −−11)
)
s
s =
= =
=
2
2 2
2

−
− −
− −
−−
−−
−
2
2
⇒
⇒ s
s =
= −
−δδω
ωn ± ω n√
n ± ωn
√δδ −−11

The two roots are imaginary when δ = 0.

The two roots are real and equal when δ = 1.
The two roots are real but not equal when δ > 1.
The two roots are complex conjugate when 0 < δ < 1.

We can write C
C((s
s)) equation as,

2
2
ω
ωnn
C
C((s
s)) =
= (
( )
)RR(
(ss)
)
2
2 2
2
s
s +
+22δ
δωωn s
s++ω
ωn
n n

Where,

C(s) is the Laplace transform of the output signal, c(t)

R(s) is the Laplace transform of the input signal, r(t)

ωn is the natural frequency

δ is the damping ratio.
Follow these steps to get the response (output) of the second order system in the time domain.

Take Laplace transform of the input signal, r

r((t
t)) .

2
2
ω
ωn
Consider the equation, C
C((s
s)) =
= (
( 22
n

2
2
)
)RR(
(ss)
)
s
s + +2
2δδω
ωn s+ω n
n s+ωn

Substitute R
R((s
s)) value in the above equation.

Do partial fractions of C
C((s
s)) if required.

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11/4/21, 3:02 PM Response of Second Order System

Apply inverse Laplace transform to C

C((s
s)) .

Step Response of Second Order System

Consider the unit step signal as an input to the second order system.
Laplace transform of the unit step signal is,

1
1
R
R((s
s)) =
=
s
s

We know the transfer function of the second order closed loop control system is,

2
2
C
C((s
s)) ω
ωnn
=
=
2
2 2
2
R
R((s
s)) s
s +
+22δ
δωωn s + ωn
n s + ωn

Case 1: δ = 0

Substitute, δ
δ =
= 0
0 in the transfer function.

2
2
C
C((s
s)) ω
ωnn
=
=
2
2 2
2
R
R((s
s)) s
s +
+ωωn
n

2
2
ω
ωnn
⇒
⇒ C
C((s
s)) =
= (
( )
)RR(
(ss)
)
2
2 2
2
s
s +
+ωωn
n

Substitute, in the above equation.

1
1
R
R((s
s)) =
=
s
s

2
2 2
2
ω
ωnn
1
1 ω
ωnn
C
C((s
s)) =
= (
( )
)(( )
) =
=
2
2 2
2 2
2 2
2
s
s +
+ωωn s
s s
s((s
s +
+ωωn )
n n)

Apply inverse Laplace transform on both the sides.

c
c((t
t)) =
= (
(11−
− cos
cos((ω
ωn t)) u(t)
n t)) u(t)

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11/4/21, 3:02 PM Response of Second Order System

So, the unit step response of the second order system when /
/dde
ellt
taa =
= 0
0 will be a continuous

time signal with constant amplitude and frequency.

Case 2: δ = 1

Substitute, /
/dde
ellt
taa =
= 1
1 in the transfer function.

2
2
C
C((s
s)) ω
ωnn
=
=
2 2 2
2
R
R((s
s)) s
s + +2
2ωωn s + ωn
n s + ωn

2
2
ω
ωnn
⇒
⇒ C
C((s
s)) =
= (
( )
)RR(
(ss)
)
2 2
(
(ss+
+ωωn )
n)

Substitute, R
R((s
s)) =
=
1
1

s
in the above equation.
s

2
2 2
2
ω
ωnn
1
1 ω
ωnn
C
C((s
s)) =
= (
( )
)(( )
) =
=
2
2 2
2
(
(ss+
+ωωn ) s
s s
s((s
s++ω )
n) ωnn)

Do partial fractions of C
C((s
s)) .

2
2
ω
ωnn
A
A B
B C
C
C
C((s
s)) =
= =
= +
+ +
+
2
2 2
2
s
s((s
s++ω
ωn ) s
s s
s++ω
ωn (
(ss+
+ω )
n) n ωn
n)

After simplifying, you will get the values of A, B and C as 1

1,, −
−11a
annd
d −
−ωωn
n
respectively.

Substitute these values in the above partial fraction expansion of C

C((s
s)) .

1
1 1
1 ω
ωnn
C
C((s
s)) =
= −
− −
−
2
2
s
s s
s++ω
ωn (
(ss+
+ωωn )
n n)

Apply inverse Laplace transform on both the sides.

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11/4/21, 3:02 PM Response of Second Order System

−
−ωωn
nt
t −
−ωωn
nt
t
c
c((t
t)) =
= (
(11−
−ee −
−ωωn te
n te
)
)uu(
(tt)
)

So, the unit step response of the second order system will try to reach the step input in steady
state.

Case 3: 0 < δ < 1

We can modify the denominator term of the transfer function as follows −

2
2 2
2 2
2 2
2 2
2 2
2
s
s +
+22δ
δωωn s + ωn =
n s + ωn = {
{ss +
+22(
(ss)
)((δ
δωωn ) + (δω n )
n ) + (δωn ) }
}++ω
ωn − (δω n )
n − (δωn )

2
2 2
2 2
2
=
= (
(ss+
+δδω
ωn )
n)
+
+ωωn (1 − δ )
n (1 − δ )

The transfer function becomes,

2
2
C
C((s
s)) ω
ωnn
=
=
2 2 2 2
2 2
R
R((s
s)) (
(ss+
+δδω
ωn ) ++ω (
(11−
−δδ ))
n) ωnn

2
2
ω
ωnn
⇒
⇒ C
C((s
s)) =
= (
( )
)RR(
(ss)
)
2 2 2 2
2 2
(
(ss+
+δδω
ωn ) ++ω (
(11−
−δδ ))
n) ωnn

Substitute, R
R((s
s)) =
=
1
1
in the above equation.
s
s

2
2 2
2
ω
ωnn
1
1 ω
ωnn
C
C((s
s)) =
= (
( )
)(( )
) =
=
2
2 2
2 2
2 2 2
2 2
(
(ss+
+δδω
ωn ) +
+ω (1 − δ ) s
s 2 2
n) ωn
n (1 − δ ) s
s(((
(ss+
+δδω
ωn )
n)
+
+ωωn (1 − δ ))
n (1 − δ ))

Do partial fractions of C
C((s
s)) .

2
2
ω
ωnn
A
A B
Bss+
+CC
C
C((s
s)) =
= =
= +
+
2 2
2 2 2
2 2
2 2
2
s
s(((
(ss+
+δδω )
2
+
+ω (1 − δ ))
2 s
s (
(ss+
+δδω
ωn ) +
+ω (1 − δ )
ωnn) ωn
n (1 − δ )) n) ωn
n (1 − δ )

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11/4/21, 3:02 PM Response of Second Order System

After simplifying, you will get the values of A, B and C as 1

1,, −
−11a
annd
d −
−22δ
δωωn
n
respectively.

Substitute these values in the above partial fraction expansion of C(s).

1
1 s
s++2
2δδω
ωnn
C
C((s
s)) =
= −
−
2
2 2
2 2
2
s
s (
(ss+
+δδω
ωn ) +
+ω (1 − δ )
n) ωn
n (1 − δ )

1
1 s
s++δ
δωωn δ
δωωn
n n
C
C((s
s)) =
= −
− −
−
2 2
2 2 2 2
2 2
s
s (
(ss+
+δδω
ωn )2 +
+ω (1 − δ 2) (
(ss+
+δδω )2 +
+ω (1 − δ 2)
n) ωn
n (1 − δ ) ωnn) ωn
n (1 − δ )

2
2
1 (
(ss+
+δδω
ωn )
) δ ω
ωn √
√11−
−δδ
1 n δ n
C
C((s
s)) =
= −
− −
− (
( )
)
s
s 2
2 2
2 2
2 2 2 2
2 2
2 2
2
(
(ss+
+δδω
ωn ) +
+((ω √
√11−
−δδ ) √
√11−
−δ (
(ss+
+δδω ) +
+((ω √
√11−
−δδ )
n) ωnn ) δ ωnn) ωnn )

−
− −
−−
−−
− −
−
Substitute, ω
ωnn
√
√11−
−δ δ
2
2
as ω
ωdd
in the above equation.

1
1 (
(ss+
+δδω
ωn )
n) δ
δ ωωdd
C
C((s
s)) =
= −
− −
− (
( )
)
2 2
2
−
− −
−−
−−
− −
− 2 2
2
s 2 2
2 2
s (
(ss+
+δδω
ωn ) +
+ω √ (
(ss+
+δδω ) + ω
n) ω
d
d
√11−
−δ δ ωnn ) + ω
d d

Apply inverse Laplace transform on both the sides.

δ
δ
−
−δδω
ωn t
nt
−
−δδω
ωn t
nt
c
c((t
t)) =
= (
(11−
−ee cos
cos((ω
ωd t) −
d t) −
e
e sin
sin((ω
ωd t)) u(t)
d t)) u(t)
−
− −
−−
−−
− −
−2
2
√
√11−
−δ δ

−
−δδω
ωn t
t
e
e n
−
− −
−−
−−−−
−2
2
c
c((t
t)) =
= (
(11−
− (
(((√
√11 −
− δ
δ )
) cos
cos((ω
ωd t) + δ sin(ω dtt)
))))
)uu(
(tt)
−
− −
−−
−−
− −
− d t) + δ sin(ωd )
2
2
√
√11−
−δ δ

−
− −
−−
−−
− −
−
If √
√11−
−δ
2
2
δ == sin
sin((θ
θ)) , then ‘δ’ will be cos(θ). Substitute these values in the above equation.

−
−δδω
ωn t
nt
e
e
c
c((t
t)) =
= (
(11−
− (
(sin
sin(
(θθ)
) cos
cos((ω
ωd t) + cos(θ) sin(ω dt
d t) + cos(θ) sin(ωd t)
))))
)uu(
(tt)
)
−
− −
−−
−−
− −
−2
2
√
√11−
−δ δ

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11/4/21, 3:02 PM Response of Second Order System

−
−δδω
ωn t
t
e
e n

⇒
⇒ c
c((t
t)) =
= (
(11−
−(( )
) sin
sin((ω
ωd t + θ)) u(t)
d t + θ)) u(t)
−
− −
−−
−−
− −
−2
2
√
√11−
−δ δ

So, the unit step response of the second order system is having damped oscillations (decreasing
amplitude) when ‘δ’ lies between zero and one.

Case 4: δ > 1

We can modify the denominator term of the transfer function as follows −

2
2 2
2 2
2 2
2 2
2 2
2
s
s +
+22δ
δωωn s + ωn =
n s + ωn = {
{ss +
+22(
(ss)
)((δ
δωωn ) + (δω n )
n ) + (δωn ) }
}++ω
ωn − (δω n )
n − (δωn )

2
2 2
2 2
2
=
= (
(ss+
+δδω
ωn )
n)
−
−ωωn (δ
n (δ
−
−11)
)

The transfer function becomes,

2
2
C
C((s
s)) ω
ωnn
=
=
2 2 2 2
2 2
R
R((s
s)) (
(ss+
+δδω
ωn ) −−ω (
(δ − −1
1))
n) ωnn δ

2
2
ω
ωnn
⇒
⇒ C
C((s
s)) =
= (
( )
)RR(
(ss)
)
2 2 2 2
2 2
(
(ss+
+δδω
ωn ) −−ω (
(δ − −1
1))
n) ωnn δ

Substitute, R
R((s
s)) =
=
1
1

s
in the above equation.
s

2
2 2
2
ω
ωnn 1
1 ω
ωnn
C
C((s
s)) =
= (
( )
)(( )
) =
=
2
2 2
2 2
2 s
s 2
2 2
2
(
(ss+
+δδω
ωn ) −(ω n √
n ) −(ωn
√δδ −
−11)
) s
s((s
s++δ
δωωn +ω n √
n +ωn
√δδ −
−11)
)((s
s++δ
δωωn −ω n √
n −ωn
√δδ −
−11)
)

Do partial fractions of C
C((s
s)) .

2
2
ω
ωnn
C
C((s
s)) =
= −
− −
− −
−−
−−
− −
− −
− −
−−
−−
−
2
2 2
2
s
s((s
s++δ
δωωn + ω n√
n + ωn
√δδ −−11)
)((s
s++δ
δωωn − ω n√
n − ωn
√δδ −−11)
)

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11/4/21, 3:02 PM Response of Second Order System

A
A B
B C
C
=
= +
+ +
+
−
− −
− −
−−
−−
− −
− −
− −
−−
−−
−
s
s s
s++δ
δω + ω n√
√δ
2
2
− ω n√
2
2
ωn
n + ωn δ −−11 s
s++δ
δωωn
n − ωn
√δδ −−11

After simplifying, you will get the values of A, B and C as 1, 2

1
1

2
and
2 2
2
2((δ
δ++√
√δδ −−1
1) (√
)( √δ
δ − −1
1))

−
−1

2
1

2
respectively. Substitute these values in above partial fraction expansion of
2 2
2
2((δ
δ−−√
√δδ −
−11)
)((√
√δδ −
−11)
)

C
C((s
s)) .

1
1 1
1 1
1
C
C((s
s)) =
= +
+ (
( )
)
−
− −
− −
−−
−−
− −
− −
− −
−−
−−
− −
− −
− −
−−
−−
−
s 2
2 2
2 2
2
s 2
2((δ
δ++√
√δδ −−11)
)((√
√δδ −−11)
) s
s++δ
δωωn +
+ωωn √
√δδ −−11
n n

1
1 1
1
−
−(( )
)(( )
)
−
− −
− −
−−
−−− −
− −
− −
−−
−−
− −
− −− −
−−
−−
−
2
2 2
2 2
2
2
2((δ
δ−−√
√δδ −−1 1)
)((√
√δδ −−11)
) s
s++δ
δωωn
n
−
− ω
ω n
n
√
√ δ
δ −
− 1
1

Apply inverse Laplace transform on both the sides.

c
c((t
t))

2
2 2
2
1
1 −
−((δ
δωωn +ω n √
n +ωn
√δδ −
−11)
)tt 1
1 −
−((δ
δωωn −ω n √
n −ωn
√δδ −
−11)
)tt
=
= (
(11+
+(( )
)ee −
−(( )
)ee
2
2 2
2 2
2 2
2
2
2((δ
δ++√
√δδ −
−11)
)((√
√δδ −
−11)
) 2
2((δ
δ−−√
√δδ −
−11)
)((√
√δδ −
−11)
)

)
)uu(
(tt)
)

Since it is over damped, the unit step response of the second order system when δ > 1 will never
reach step input in the steady state.

Impulse Response of Second Order System

The impulse response of the second order system can be obtained by using any one of these two
methods.

Follow the procedure involved while deriving step response by considering the value of

as 1 instead of .
1
1
R
R((s
s))
s
s

Do the differentiation of the step response.

The following table shows the impulse response of the second order system for 4 cases of the
damping ratio.

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11/4/21, 3:02 PM Response of Second Order System

Condition of Damping ratio Impulse response for t ≥ 0

δ=0
ω
ωn sin(ω n t
n sin(ωn t))

δ=1 2
2 −
−ωωn
nt
t
ω
ωn te
n te

0<δ<1
−
−δδω t
ω e ωnnt
ωnne
(
( )
) sin
sin((ω
ωd t)
d t)
2
2
√
√11−
−δδ

δ>1
ω 2
2 2
2
ωn −
−((δ
δω −ω n √
√δ +ω n √
√δ
n ωn
n −ωn δ −
−11)
)tt −
−((δ
δωωn
n +ωn δ −
−11)
)tt
(
( )
)((e
e −
−ee )
)
2
2
2√
2 √δ
δ −
−11

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