Second Order Systems
τ = Time Constant
ζ = Damping Coefficient
Second Order Systems – Inherently 2nd
order
Second Order Systems – Multicapacity
systems in series
Transfer Function
τ = Time Constant
ζ = Damping Coefficient
Second – Order System
Second-order systems exhibit a wide range of responses which
must be analyzed and described.
• Whereas for a first-order system, varying a single parameter
changes the speed of response, changes in the parameters of a
second order system can change the form of the response.
For example: a second-order system can display
characteristics much like a first-order system or, depending on
component values, display damped or pure oscillations for its
transient response.
6
Step Response
The roots s1 and s2 will be real or complex depending on the parameter
ζ.
The nature of the roots will, in turn, affect the form of Y(t).
Second – Order System
- According the value of ζ, a second-order system can be set into
one of the four categories:
1. Overdamped - when the system has two real distinct poles
(ζ >1).
2. Underdamped - when the system has two complex
conjugate poles (0 <ζ <1)
3. Undamped - when the system has two imaginary poles (ζ =
0).
4. Critically damped - when the system has two real but
equal poles (ζ = 1).
8
Underdamped Systems (ζ < 1)
Roots s1 and s2 are complex
Critically damped Systems (ζ = 1)
Roots s1 and s2 are real and equal
Response in non-oscillatory
Overdamped Systems (ζ > 1)
Roots s1 and s2 are real and unequal
Response in non-oscillatory
Step Response of Second Order Systems
Terminology for Underdamped Syetems
Overshoot
• a measure of how
much the
response exceeds
the ultimate
value following a
step change
• expressed as the
ratio A/B
Terminology for Underdamped Syetems
Effect of
damping
coefficient
on overshoot
Terminology for Underdamped Syetems
Decay ratio
• The decay ratio is
defined as the
ratio of the sizes
of successive
peaks and is
given by CIA
2
Terminology for Underdamped Syetems
Effect of
damping
coefficient
on decay
ratio
Terminology for Underdamped Syetems
Rise time.
• This is the time required for the response to first
reach its ultimate value and is labeled tr
• tr increases with increasing ζ
Terminology for Underdamped Syetems
Response time
The time required for the response to come within +5 percent of its
ultimate value and remain there.
The limits 5 percent are arbitrary, and other limits have been
used in other texts for defining a response time.
Terminology for Underdamped Syetems
Period of oscillation
• The radian frequency (radians/time) is the coefficient of t in the sine
term
• T is the time elapsed between peaks.
• It is also the time elapsed between alternate crossings of the line Y = 1
Terminology for Underdamped Syetems
Terminology for Underdamped Syetems
Natural period of oscillation
• If the damping is eliminated the system
oscillates continuously without attenuation in
amplitude. Under these “natural” or
undamped conditions, the radian frequency is
l/τ. This frequency is referred to as the natural
frequency ωn
Terminology for Underdamped Syetems
Natural period of oscillation
(A) For transient response, we have 4
specifications:
(a) Tr – rise time =
n 1 2
(b) Tp – peak time =
n 1 2
(c) %MP – percentage maximum overshoot =
1 2
e x100%
4
(d) Ts – settling time (2% error) =
n
(B) Steady State Response
(a) Steady State error
25
Impulse Response
Impulse
Response
Exercise 1
The transfer function of a process is
1/ (16s2 + 18s + 4). Calculate the
time constant and damping
coefficient
Exercise 2
Identify the system with the lowest damping
coefficient. For the system identified, determine
overshoot, decay ratio and rise time.
Exercise 3
The two-tank system shown in figure is operating at steady state.
At time t = 0, the flow rate to the first tank was increased by 2 cfm
(ft3/min) by a step change. Determine the maximum deviation in
level (feet) in both tanks from the ultimate steady-state values
and the time at which each maximum occurs.
A1 = 0.6 ft2 ; A2 = l ft2 ; R1 = 1 ft/cfm; R2 = 0.6 ft/cfm
Exercise 4
A process has the transfer function .
For a step change of magnitude 2 in
input variable, what will be the
deviation in output variable 5 minutes
after the change was induced?
Exercise 5
In the two-tank mixing process shown in figure,
salt concentration x varies from 0 lb salt/ft3 to
1lb salt/ft3 according to a step function. At what
time does the salt concentration in tank 2 reach
0.6 lb salt/ft3? The holdup volume of each tank is
6 ft3.
