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10.3 Time Specification of The 2nd Order System

This document discusses time domain specifications for second order systems, including delay time, rise time, peak time, percentage of peak overshoot, and settling time. It explains the relationships between these specifications and the system's damping ratio and natural frequency, providing formulas for calculations. An example is included to illustrate how to determine these specifications for a specific control system transfer function.

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44 views13 pages

10.3 Time Specification of The 2nd Order System

This document discusses time domain specifications for second order systems, including delay time, rise time, peak time, percentage of peak overshoot, and settling time. It explains the relationships between these specifications and the system's damping ratio and natural frequency, providing formulas for calculations. An example is included to illustrate how to determine these specifications for a specific control system transfer function.

Uploaded by

0523angelafrancisco
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Module 10:Time Domain Specifications

of the 2nd Order System.

By
Ramon A. Alguidano, Jr., DT, BSECE, MEngr., D.I.T., RECE, PECE, ANZSCO PE
Introduction
The time domain specifications
of the second order system. The step
response of the second order system
for the underdamped case is shown in
the following figure.
All the time domain
specifications are represented in this
figure. The response up to the settling
time is known as transient response
and the response after the settling
time is known as steady state
response.
Delay Time

It is the time required for the response to reach half of its final
value from the zero instant. It is denoted by td.

Consider the step response of the second order system for t ≥ 0, when ‘δ’
lies between zero and one.

The final value of the step response is one.


Therefore, at t=td, the value of the step response will be 0.5.
Substitute, these values in the above equation.

By using linear approximation, you will get the delay time td as


Rise Time
It is the time required for the response to rise from 0% to 100% of its final value.
This is applicable for the under-damped systems. For the over-damped systems, consider
the duration from 10% to 90% of the final value. Rise time is denoted by tr.
At t = t1 = 0, c(t) = 0.
We know that the final value of the step response is one.
Therefore, at t=t2, the value of step response is one. Substitute, these values in the
following equation.
Substitute t1 and t2 values in the
following equation of rise time,

From above equation, we can conclude that


the rise time tr and the damped frequency ωd are
inversely proportional to each other.
Peak Time
It is the time required for the response to reach the peak value for the first time. It is
denoted by tp. At t=tp, the first derivate of the response is zero.
We know the step response of second order system for under-damped case is

Differentiate c(t) with respect to ‘t’.

Substitute, t=tp and dc(t)/dt=0 in the above equation.


.

From the above equation, we can conclude that the peak time tp and the damped
frequency ωd are inversely proportional to each other.
From the above equation, we can conclude that the peak time tp and the damped
frequency ωd are inversely. proportional to each other.

Where,
c(tp) is the peak value of the response.
c(∞) is the final (steady state) value of the response.
At t=tp, the response c(t) is -

Substitute, tp=π/ωd in the right hand side of the above equation.


Substitute the values of c(tp) By substituting the values of Mp and c(∞) in
and c(∞) in the peak overshoot equation. above formula, we will get the Percentage of
the peak overshoot %Mp as

From the above equation, we can


conclude that the percentage of peak
Percentage of peak overshoot % Mp can be overshoot %Mp will decrease if the damping
calculated by using this formula ratio δ increases
Settling time
It is the time required for the Where, τ is the time constant and is
response to reach the steady state and stay equal to 1/δωn.
within the specified tolerance bands around Both the settling time ts and the time
the final value. In general, the tolerance constant τ are inversely proportional to the
bands are 2% and 5%. The settling time is damping ratio δ.
denoted by ts. Both the settling time ts and the time
constant τ are independent of the system gain.
The settling time for 5% tolerance band is - That means even the system gain changes, the
settling time ts and time constant τ will never
change.

The settling time for 2% tolerance band is –


.

Example Substitute, ωn and δ values in the above formula.


Let us now find the time domain
specifications of a control system having the
4
closed loop transfer function 2 when the
4s +2s+4
unit step signal is applied as an input to this
control system. Substitute, δ value in following relation
We know that the standard form of the
transfer function of the second order closed loop
control system as

By equating these two transfer functions, Substitute the above necessary values
we will get the un-damped natural in the formula of each time domain specification
frequency ωn as 2 rad/sec and the damping
ratio δ as 0.5. and simplify in order to get the values of time
domain specifications for given transfer function.
We know the formula for damped
frequency ωd as
End of Presentation

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