AV-354

Lecture No 4

“TIME RESPONSE OF 2nd ORDER SYSTEM”

Textbook: Chapter 3
Section: 3.3
Instructor: Sqn Ldr M Amir Tahir
Number of Slides: 21

Avionics Engineering Department

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Recap: 1st Master title style
Order System
• General 1st order differential equation is given by
y  ao y bo r
• The solution for a step i/p and zero initial conditions is
y (t ) K (1  e  t / ) if y (0) 0
• Solution with nonzero initial condition is
y (t ) K (1  e  t / )  yo e t / if y (0)  yo
• Output equation depends on two system parameters
( K and  ), the initial conditions and the input signal

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Recap: 1st Master title style
Order System
• Two equivalent common forms of 1st order transfer function
are
 “Pole – Zero” Form
 “Gain – Time Constant” Form
• Small value for time constant ( ) gives a fast response
and a large value gives a slow response
• Analogous to this is to say that if we move the pole
towards left in the s plane then the speed of the response
increases

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Objectives

• To become familiar with second-order system behavior

• To understand parameters K ,  and 
n
• To understand the effect of changes in these three
parameters on the step response of the system
• To recognize underdamped, overdamped and critically
damped system behavior and relate the behavior to the
system’s pole location

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2ndedit Master
Order title style
System
• 2nd order differential equation is given by:
Y (s) bo

y  a1 y  ao y bo r  G ( s )   2
R ( s ) s  a1s  ao
• General form of 2nd order transfer function
n 2
G (s)  2
s  2n s  n 2
where n 2 ao , 2n a1 , bo ao
 is the damping ratio (dimension less)
n is natural frequency
• All system characteristics of a standard 2nd order system are
function of these two variables and gain K (which in this case is 1)
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Response title style
of 2nd Order System
if R(s) is a unit step, then
1 n 2
Y ( s ) G ( s ) R ( s ) 
s s 2  2n s  n 2
1  nt
 y (t ) 1  e sin( n t   )

where   1  2
;  = tan  1 (  /  )
1
and    time constant
 n
 n is the frequency of the damped sinusoid
Note that y(t) is a function of  and n .
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Response title style
of 2nd Order System
1 n 2
Y ( s ) G ( s ) R ( s ) 
s s 2  2n s  n 2
n 2 A Bs  C
 
s ( s 2  2n s  n 2 ) s s 2  2n s  n 2
n 2  A( s 2  2n s  n 2 )   Bs  C  s
comparing coefficients
s 0 : n 2  An 2  A 1
s2 : 0 A  B  B  1
s1 : 0 2n A  C  C  2n
1 s  2n
 Y (s)   2
s s  2n s  n 2

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Response title style
of 2nd Order System
1 s  2n
Y (s)   2
s s  2n s  n 2
completing square
1 s  2n
Y (s)   2
s s  2n s   2n 2   2n 2  n 2
1 s  2n
= 
s ( s  n ) 2  (n 1   2
)2
s  (  a ) 2  b 2
1
L ( 2 2
) [e  at sin(bt   )]
(s  a)  b b

1
y (t ) 1  e  nt sin( n t   )

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 StepClick to edit Master
Response title style
of 2nd Order System
1
y (t ) 1  e  nt sin( n t   )

• Damping Ratio, ζ
 The damping ratio is an indicator of the type of transient
behavior (or basic shape) expected in a system’s response
 If ζ > 1; the system is overdamped
 If ζ = 1; the system is critically damped
 If 0 < ζ < 1; the system is underdamped
 If ζ = 0; the system is undamped

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 StepClick
Response
to edit MasterOrder
of 2 nd
System
title style
as a Function of ζ

Two complex roots

Two equal
real roots

Two real
roots

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Response title style
of 2nd Order System
• 2nd-order underdamped responses for damping ratio values

as ζ is increased , the oscillations are reduced

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Response title style
of 2nd Order System

• Natural Frequency, n
 If there were no damping in a system, ζ = 0, the output
response would contain oscillations that did not decay. The
frequency of these oscillations would be natural frequency
(also called undamped natural frequency) of the system. Since
all systems have some damping , the frequency of oscillations
is given by damped natural frequency, d :
d n 1   2

for smaller  d  n

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Polestoof
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Transfer title style

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2ndedit Master
Order title style
System

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Response

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Response

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Simulation

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Simulation

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Summary

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