A second-order control system has a transfer function with s^2 in the denominator. The output of such a system response to a unit step input is an exponentially decaying oscillation described by e^(-ζωnt)sin(ωdt), where ζ is the damping ratio and affects the rate of decay. The behavior of the output depends on the value of ζ - with ζ=0 the response is undamped oscillation, ζ=1 is critical damping with no oscillation, and ζ>1 is overdamped with two time constants in the response. Key characteristics of the time response like rise time, settling time, and steady state error can be determined from the transfer function and
A second-order control system has a transfer function with s^2 in the denominator. The output of such a system response to a unit step input is an exponentially decaying oscillation described by e^(-ζωnt)sin(ωdt), where ζ is the damping ratio and affects the rate of decay. The behavior of the output depends on the value of ζ - with ζ=0 the response is undamped oscillation, ζ=1 is critical damping with no oscillation, and ζ>1 is overdamped with two time constants in the response. Key characteristics of the time response like rise time, settling time, and steady state error can be determined from the transfer function and
A second-order control system has a transfer function with s^2 in the denominator. The output of such a system response to a unit step input is an exponentially decaying oscillation described by e^(-ζωnt)sin(ωdt), where ζ is the damping ratio and affects the rate of decay. The behavior of the output depends on the value of ζ - with ζ=0 the response is undamped oscillation, ζ=1 is critical damping with no oscillation, and ζ>1 is overdamped with two time constants in the response. Key characteristics of the time response like rise time, settling time, and steady state error can be determined from the transfer function and
A second-order control system has a transfer function with s^2 in the denominator. The output of such a system response to a unit step input is an exponentially decaying oscillation described by e^(-ζωnt)sin(ωdt), where ζ is the damping ratio and affects the rate of decay. The behavior of the output depends on the value of ζ - with ζ=0 the response is undamped oscillation, ζ=1 is critical damping with no oscillation, and ζ>1 is overdamped with two time constants in the response. Key characteristics of the time response like rise time, settling time, and steady state error can be determined from the transfer function and
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Time Response of Second-
Order Control System
• The order of a control system is determined by the power of s in the denominator of its transfer function. If the power of s in the denominator of transfer function of a control system is 2, then the system is said to be second-order control system. The general expression of transfer function of a second order control system is given as • Here, ζ and ωn are damping ratio and natural frequency of the system respectively • Therefore, the output of the system is given as unit step function as the input of the system, then the output equation of the system can be rewritten as Taking inverse Laplace transform of above equation, we get, The above expression of output c(t) can be rewritten as The error of the signal of the response is given by e(t) = r (t) – c(t), and hence.
• From the above expression it is clear that the error of the signal is of oscillation type with exponentially decaying magnitude when ζ d and the time constant of exponential decay is 1/ζωn. Where, ωd, is referred as damped frequency of the oscillation, and ωn is natural frequency of the oscillation. The term ζ affects that damping a lot and hence this term is called damping ratio. There will be different behaviors of output signal, depending upon the value of damping ratio and let us examine each of the cases, one by one. • When damping ratio is zero, we can rewrite the above expression of output signal as
As in this expression, there is no exponential term, the
time response of the control system is un-damped for unit step input function with zero damping ratio. Now let us examine the case when damping ratio is unity. • In this expression of output signal, there is no oscillating part in subjective unit step function. And hence this time response of second-order control system is referred as critically damped. Time response of a second order control system subjective unit step input function when damping ratio is greater than one. Taking inverse Laplace transform of both sides of the above equation we get,
In the above expression, there are two time constants.
For the value of ζ comparatively much greater than one, the effect of faster time constant on the time response can be neglected and the time response expression finally comes as Characteristics equation of time response of second-order control system • If the denominator of the expression is zero, • 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. • 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. • 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. • 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.
•Settling time (t ) is the time required for a response to become steady. It is defined as s
the time required by the response to reach and steady within specified range of 2 % to 5 % of its final value. •Steady-state error (e ) is the difference between actual output and desired output at ss
the infinite range of time.
Expression of Peak Time Expression of Settling Time • For 2% error • ts= 4T • For 5% error • ts= 3T
Where T = In general x% error Then ts=ln(x%)* T Steady State Errors
• The deviation of the output of control system from desired response
during steady state is known as steady state error. It is represented as ess. We can find steady state error using the final value theorem as follows.
• E(s) is the Laplace transform of the error signal, e(t)
• Let us discuss how to find steady state errors for unity feedback and non-unity feedback control systems one by one. Steady State Errors for Unity Feedback Systems
Where, •R(s) is the Laplace transform of the reference Input signal r(t)r(t) •C(s) is the Laplace transform of the output signal c(t)
