13.

Response of Second Order System Control Systems

In this chapter, let us discuss the time response of second order system. Consider the
following block diagram of closed loop control system. Here, an open loop transfer
2
𝜔𝑛
function, is connected with a unity negative feedback.
𝑠(𝑠+2𝛿𝜔𝑛 )

We know that the transfer function of the closed loop control system having unity negative
feedback as
𝐶(𝑠) 𝐺(𝑠)
=
𝑅(𝑠) 1 + 𝐺(𝑠)
2
𝜔𝑛
Substitute, 𝐺(𝑠) = in the above equation.
𝑠(𝑠+2𝛿𝜔𝑛 )

𝜔𝑛2
𝐶(𝑠) ( ) 𝜔𝑛2
𝑠(𝑠 + 2𝛿𝜔𝑛 )
= 2 = 2
𝑅(𝑠) 𝜔𝑛 𝑠 + 2𝛿𝜔𝑛 𝑠 + 𝜔𝑛2
1+( )
𝑠(𝑠 + 2𝛿𝜔𝑛 )

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 -

𝑠 2 + 2𝛿𝜔𝑛 𝑠 + 𝜔𝑛2 = 0.

The roots of characteristic equation are -

−2𝛿𝜔𝑛 ± √(2𝛿𝜔𝑛 )2 − 4𝜔𝑛 2 −2(𝛿𝜔𝑛 ± 𝜔𝑛 √𝛿 2 − 1)

𝑠= =
2 2

=> 𝑠 = −𝛿𝜔𝑛 ± 𝜔𝑛 √𝛿 2 − 1

 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.

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We can write 𝐶(𝑠) equation as,

𝜔𝑛2
𝐶(𝑠) = ( ) 𝑅(𝑠)
𝑠 2 + 2𝛿𝜔𝑛 𝑠 + 𝜔𝑛2

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(𝑡).

2
𝜔𝑛
 Consider the equation, 𝐶(𝑠) = ( 2 ) 𝑅(𝑠)
𝑠 2 +2𝛿𝜔𝑛 𝑠+𝜔𝑛

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

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

 Apply inverse Laplace transform to 𝐶(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
𝑅(𝑠) = .
𝑠

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

𝐶 (𝑠 ) 𝜔𝑛2
=
𝑅(𝑠) 𝑠 2 + 2𝛿𝜔𝑛 𝑠 + 𝜔𝑛2
Case 1: 𝜹 = 𝟎
Substitute, 𝛿 = 0 in the transfer function.

𝐶(𝑠) 𝜔𝑛2
= 2
𝑅(𝑠) 𝑠 + 𝜔𝑛2

𝜔𝑛2
=> 𝐶(𝑠) = ( ) 𝑅(𝑠)
𝑠 2 + 𝜔𝑛2
1
Substitute, 𝑅(𝑠) = in the above equation.
𝑠

𝜔𝑛2 1 𝜔𝑛2
𝐶(𝑠) = ( )( ) =
𝑠2 2
+ 𝜔𝑛 𝑠 𝑠(𝑠 + 𝜔𝑛2 )
2

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Apply inverse Laplace transform on both the sides.

𝑐(𝑡) = (1 − 𝑐𝑜𝑠(𝜔𝑛 𝑡))𝑢(𝑡)

So, the unit step response of the second order system when 𝛿 = 0 will be a continuous
time signal with constant amplitude and frequency.

Case 2: 𝜹 = 𝟏
Substitute, 𝛿 = 1 in the transfer function.

𝐶(𝑠) 𝜔𝑛2
= 2
𝑅(𝑠) 𝑠 + 2𝜔𝑛 𝑠 + 𝜔𝑛2

𝜔𝑛2
=> 𝐶(𝑠) = ( ) 𝑅(𝑠)
(𝑠 + 𝜔𝑛 )2
1
Substitute, 𝑅(𝑠) = in the above equation.
𝑠

𝜔𝑛2 1 𝜔𝑛2
𝐶(𝑠) = ( ) ( ) =
(𝑠 + 𝜔𝑛 )2 𝑠 𝑠(𝑠 + 𝜔𝑛 )2

Do partial fractions of 𝐶(𝑠).

𝜔𝑛2 𝐴 𝐵 𝐶
𝐶(𝑠) = 2
= + +
𝑠(𝑠 + 𝜔𝑛 ) 𝑠 𝑠 + 𝜔𝑛 (𝑠 + 𝜔𝑛 )2

After simplifying, you will get the values of A, B and C as 1, -1 and −𝜔𝑛 respectively.
Substitute these values in the above partial fraction expansion of 𝐶(𝑠).
1 1 𝜔𝑛
𝐶(𝑠) = − −
𝑠 𝑠 + 𝜔𝑛 (𝑠 + 𝜔𝑛 )2

Apply inverse Laplace transform on both the sides.

𝑐(𝑡) = (1 − 𝑒 −𝜔𝑛 𝑡 − 𝜔𝑛 𝑡𝑒 −𝜔𝑛 𝑡 )𝑢(𝑡)

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:

𝑠 2 + 2𝛿𝜔𝑛 𝑠 + 𝜔𝑛2 = {𝑠 2 + 2(𝑠)(𝛿𝜔𝑛 ) + (𝛿𝜔𝑛 )2 } + 𝜔𝑛2 − (𝛿𝜔𝑛 )2

= (𝑠 + 𝛿𝜔𝑛 )2 + 𝜔𝑛2 (1 − 𝛿 2 )

The transfer function becomes,

𝐶(𝑠) 𝜔𝑛2
=
𝑅(𝑠) (𝑠 + 𝛿𝜔𝑛 )2 + 𝜔𝑛2 (1 − 𝛿 2 )

𝜔𝑛2
=> 𝐶(𝑠) = ( ) 𝑅(𝑠)
(𝑠 + 𝛿𝜔𝑛 )2 + 𝜔𝑛2 (1 − 𝛿 2 )

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

𝜔𝑛2 1 𝜔𝑛2
𝐶(𝑠) = ( ) ( ) =
(𝑠 + 𝛿𝜔𝑛 )2 + 𝜔𝑛2 (1 − 𝛿 2 ) 𝑠 𝑠((𝑠 + 𝛿𝜔𝑛 )2 + 𝜔𝑛2 (1 − 𝛿 2 ))

Do partial fractions of 𝐶(𝑠).

𝜔𝑛2 𝐴 𝐵𝑠 + 𝐶
𝐶(𝑠) = = +
𝑠((𝑠 + 𝛿𝜔𝑛 )2 + 𝜔𝑛2 (1 − 𝛿 2 )) 𝑠 (𝑠 + 𝛿𝜔𝑛 )2 + 𝜔𝑛2 (1 − 𝛿 2 )

After simplifying, you will get the values of A, B and C as 1, -1 and −2𝛿𝜔𝑛 respectively.
Substitute these values in the above partial fraction expansion of C(s).
1 𝑠 + 2𝛿𝜔𝑛
𝐶(𝑠) = −
𝑠 (𝑠 + 𝛿𝜔𝑛 )2 + 𝜔𝑛2 (1 − 𝛿 2 )
1 𝑠 + 𝛿𝜔𝑛 𝛿𝜔𝑛
𝐶(𝑠) = − −
𝑠 (𝑠 + 𝛿𝜔𝑛 )2 + 𝜔𝑛2 (1 − 𝛿 2 ) (𝑠 + 𝛿𝜔𝑛 )2 + 𝜔𝑛2 (1 − 𝛿 2 )

1 (𝑠 + 𝛿𝜔𝑛 ) 𝛿 𝜔𝑛 √1 − 𝛿 2
𝐶(𝑠) = − − ( )
𝑠 (𝑠 + 𝛿𝜔𝑛 )2 + (𝜔𝑛 √1 − 𝛿 2 )2 √1 − 𝛿 2 (𝑠 + 𝛿𝜔𝑛 )2 + (𝜔𝑛 √1 − 𝛿 2 )2

Substitute, 𝜔𝑛 √1 − 𝛿 2 as 𝜔𝑑 in the above equation.

1 (𝑠 + 𝛿𝜔𝑛 ) 𝛿 𝜔𝑑
𝐶(𝑠) = − − ( )
𝑠 (𝑠 + 𝛿𝜔𝑛 )2 + 𝜔𝑑2 √1 − 𝛿 2 (𝑠 + 𝛿𝜔𝑛 )2 + 𝜔𝑑2

Apply inverse Laplace transform on both the sides.

𝛿
𝑐(𝑡) = (1 − 𝑒 −𝛿𝜔𝑛 𝑡 cos(𝜔𝑑 𝑡) − 𝑒 −𝛿𝜔𝑛 𝑡 sin(𝜔𝑑 𝑡)) 𝑢(𝑡)
√1 − 𝛿 2

𝑒 −𝛿𝜔𝑛 𝑡
𝑐(𝑡) = (1 − ((√1 − 𝛿 2 ) cos(𝜔𝑑 𝑡) + 𝛿 sin(𝜔𝑑 𝑡))) 𝑢(𝑡)
√1 − 𝛿 2

If √1 − 𝛿 2 = sin(𝜃), then ‘𝛿’ will be cos(𝜃). Substitute these values in the above equation.

𝑒 −𝛿𝜔𝑛 𝑡
𝑐(𝑡) = (1 − (sin(𝜃) cos(𝜔𝑑 𝑡) + 𝑐𝑜s(𝜃) sin(𝜔𝑑 𝑡))) 𝑢(𝑡)
√1 − 𝛿 2

𝑒 −𝛿𝜔𝑛 𝑡
=> 𝑐(𝑡) = (1 − ( ) sin(𝜔𝑑 𝑡 + 𝜃)) 𝑢(𝑡)
√1 − 𝛿 2

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:

𝑠 2 + 2𝛿𝜔𝑛 𝑠 + 𝜔𝑛2 = {𝑠 2 + 2(𝑠)(𝛿𝜔𝑛 ) + (𝛿𝜔𝑛 )2 } + 𝜔𝑛2 − (𝛿𝜔𝑛 )2

= (𝑠 + 𝛿𝜔𝑛 )2 − 𝜔𝑛2 (𝛿 2 − 1)

The transfer function becomes,

𝐶(𝑠) 𝜔𝑛2
=
𝑅(𝑠) (𝑠 + 𝛿𝜔𝑛 )2 − 𝜔𝑛2 (𝛿 2 − 1)

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𝜔𝑛2
=> 𝐶(𝑠) = ( ) 𝑅(𝑠)
(𝑠 + 𝛿𝜔𝑛 )2 − 𝜔𝑛2 (𝛿 2 − 1)
1
Substitute, 𝑅(𝑠) = in the above equation.
𝑠

𝜔𝑛2 1 𝜔𝑛2
𝐶(𝑠) = ( 2) ( )=
(𝑠 + 𝛿𝜔𝑛 )2 − (𝜔𝑛 √𝛿 2 − 1 ) 𝑠 𝑠(𝑠 + 𝛿𝜔𝑛 + 𝜔𝑛 √𝛿 2 − 1 )(𝑠 + 𝛿𝜔𝑛 − 𝜔𝑛 √𝛿 2 − 1 )

Do partial fractions of 𝐶(𝑠).

𝜔𝑛2
𝐶(𝑠) =
𝑠(𝑠 + 𝛿𝜔𝑛 + 𝜔𝑛 √𝛿 2 − 1 )(𝑠 + 𝛿𝜔𝑛 − 𝜔𝑛 √𝛿 2 − 1 )
𝐴 𝐵 𝐶
= + +
𝑠 𝑠 + 𝛿𝜔𝑛 + 𝜔𝑛 √𝛿 − 1 𝑠 + 𝛿𝜔𝑛 − 𝜔𝑛 √𝛿 2 − 1
2

1
After simplifying, you will get the values of A, B and C as 1, and
2(𝛿+√𝛿 2 −1)(√𝛿 2 −1)
−1
respectively. Substitute these values in above partial fraction expansion of
2(𝛿−√𝛿 2 −1)(√𝛿 2 −1)

𝐶(𝑠).

1 1 1
𝐶(𝑠) = +( )( )
𝑠 2(𝛿 + √𝛿 − 1)(√𝛿 − 1) 𝑠 + 𝛿𝜔𝑛 + 𝜔𝑛 √𝛿 2 − 1
2 2

1 1
−( )( )
2(𝛿 − √𝛿 2 − 1)(√𝛿 2 − 1) 𝑠 + 𝛿𝜔𝑛 − 𝜔𝑛 √𝛿 2 − 1

Apply inverse Laplace transform on both the sides.

1 √𝛿 2 −1)𝑡
𝑐(𝑡) = (1 + ( ) 𝑒 −(𝛿𝜔𝑛 +𝜔𝑛
2(𝛿 + √𝛿 2 − 1)(√𝛿 2 − 1)
1 √𝛿 2 −1)𝑡
−( ) 𝑒 −(𝛿𝜔𝑛 −𝜔𝑛 ) 𝑢(𝑡)
2(𝛿 − √𝛿 2 − 1)(√𝛿 2 − 1)

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
1
of 𝑅(𝑠) as 1 instead of .
𝑠

 Do the differentiation of the step response.

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

Condition of Damping ratio Impulse response for 𝒕 ≥ 𝟎

𝛿=0 𝜔𝑛 𝑠𝑖𝑛(𝜔𝑛 𝑡)

𝛿=1 𝜔𝑛 2 𝑡𝑒 −𝜔𝑛 𝑡

𝜔𝑛 𝑒 −𝛿𝜔𝑛 𝑡
0<𝛿<1 ( ) sin(𝜔𝑑 𝑡)
√1 − 𝛿 2
𝜔𝑛 √𝛿 2 −1)𝑡
( ) (𝑒 −(𝛿𝜔𝑛 −𝜔𝑛
𝛿>1 2√𝛿 2 −1
√𝛿 2 −1)𝑡
− 𝑒 −(𝛿𝜔𝑛 +𝜔𝑛 )

59