SPC318: System Modeling and Linear Systems

Lecture 4: Time Domain Analysis of 2nd Order Systems

Dr. Haitham El-Hussieny

Adjunct Lecturer
Space and Communication Engineering
Zewail City of Science and Technology

Fall 2016

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 1 / 24

Lecture Outline:

1 Introduction to Time Domain Analysis of 2nd Order System.

2 Step Response of Second Order Systems.

3 Second Order System Time Domain Specifications.

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 2 / 24

Table of Contents

1 Introduction to Time Domain Analysis of 2nd Order System.

2 Step Response of Second Order Systems.

3 Second Order System Time Domain Specifications.

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 3 / 24

Introduction to Time Domain Analysis of 2nd Order System:

The affect of poles and zeros on the transient response of 1st order systems is discussed in
previous lecture.
In contrast to the first-order systems, second-order systems exhibit a wide range of
responses that must be analyzed and described.
Varying a first-order system’s parameter (T , K ) changes the speed and offset of the
response.
Changes in the parameters of a second-order system can change the form of the
response. A second-order systems can display damped or pure oscillations for its
transient response.

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 4 / 24

Introduction to Time Domain Analysis of 2nd Order System:
A general second-order system is characterized by the following transfer function:

1 ωn2
G (s) = = Standard form
1 2 ζ s 2 + 2ωn ζs + ωn2
2
s +2 s +1
ωn ωn

Example:
Undamped Natural Frequency, ωn
The frequency of the system oscillations 4
G (s) =
without damping. s2 + 2s + 4

ωn2 = 4 ωn = 2 rad/sec
Damping ratio, ζ
It measures the degree of resistance to 2ζωn = 2
change in the system output. ζ = 0.5

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 5 / 24

Introduction to Time Domain Analysis of 2nd Order System:
Consider a second order system in standard form with two poles, p1 and p2 :

ωn2
G (s) =
s 2 + 2ωn ζs + ωn2
p p
p1 = −ωn ζ + ωn ζ2 − 1 p2 = −ωn ζ − ωn ζ2 − 1
According to the value of ζ, a second-order system can be set into one of the four categories:

ζ>1 0<ζ<1 ζ=0 ζ=1

Over-damped Under-damped Undamped Critically damped

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 6 / 24
Introduction to Time Domain Analysis of 2nd Order System:
Relation Beween S-Plane and ωn and ζ:
Natural Undamped Frequency, ωn :
The distance from the origin of s-plane to the pole is the natural undamped frequency ωn
in rad/sec.
For example, if ωn = 3, the pole is located anywhere on a circle with radius 3.
Therefore the s-plane is divided into Constant Natural Undamped Frequency (ωn ) circles.

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 7 / 24

Introduction to Time Domain Analysis of 2nd Order System:
Relation Beween S-Plane and ωn and ζ:
Damping Ratio, ζ:
Cosine of the angle between the vector connecting origin to pole and the –ve real axis
yields damping ratio.
ζ = cos(θ)
For Undamped system θ = 90o . So, ζ = 0
For Critically damped systems θ = 0o . So, ζ = 1
The s-plane is divided into sections of constant damping ratio lines.

ζ = cos(θ) ζ=0 ζ=1

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 8 / 24
Introduction to Time Domain Analysis of 2nd Order System:
Relation Beween S-Plane and ωn and ζ:

Example
Determine the natural frequency and damping
ratio of the poles from the following PZ-map.

ωn1 = 1 rad/sec
ωn2 = 4 rad/sec

ζ1 = ζ2 = cos(0) = 1

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 9 / 24

Introduction to Time Domain Analysis of 2nd Order System:
Relation Beween S-Plane and ωn and ζ:

Example
1 Determine the natural frequency and
damping ratio of the poles from the given
pz-map.
2 Also determine the transfer function of
the system and state whether system is
underdamped, overdamped, undamped or
critically damped.

ωn = 2 rad/sec ζ = 0.5 (Under −damped)

ωn2 4
G (s) = 2 2
= 2
s + 2ωn ζs + ωn s + 2 ∗ 4 ∗ 0.5 ∗ s + 4
Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 10 / 24
Table of Contents

1 Introduction to Time Domain Analysis of 2nd Order System.

2 Step Response of Second Order Systems.

3 Second Order System Time Domain Specifications.

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 11 / 24

Step Response of Second Order Systems:

ωn2
Y (s) = G (s)U(s) =
s(s 2 + 2ζωn s + ωn2 )
By partial fraction:
1 s + 2ζωm
Y (s) = −
s (s + ζωn )2 + ωd2
p
where, ωd = ωn 1 − ζ 2 (Damped natural frequency)
By inverse Laplace:
" #
−ζωn t ζ
y (t) = 1 − e cosωd t + p sinωd t
1 − ζ2
Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 12 / 24
Step Response of Second Order Systems:
Effect of Changing ζ on Step Response:

" #
−ζωn t ζ
y (t) = 1 − e cosωd t + p sinωd t
1 − ζ2

If ζ increases the
damping is increases to
the response.
If ζ decreases the
damping is decreased
and the system begins
to oscillate.

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 13 / 24

Step Response of Second Order Systems:
Effect of Changing ωn on Step Response:

" #
−ζωn t ζ
y (t) = 1 − e cosωd t + p sinωd t
1 − ζ2

If ωn increases the
oscillation frequency
will increase.

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 14 / 24

Table of Contents

1 Introduction to Time Domain Analysis of 2nd Order System.

2 Step Response of Second Order Systems.

3 Second Order System Time Domain Specifications.

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 15 / 24

Second Order System Time Domain Specifications:

Time Delay, td :
It is the time required for
the response y (t) to reach
half of the final value.

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 16 / 24

Second Order System Time Domain Specifications:
Rise Time, tr :
It is the time required for
the response to rise from:
0% to 100% of its final
value for the
under-damped system.
10% to 90% of its final
value for the
over-damped system.

π−θ π−θ
tr = = p
ωd ωn 1 − ζ 2

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 17 / 24

Second Order System Time Domain Specifications:

Peak Time, tp :
It is the time required for
the response to reach the
first peak of the overshoot.

π π
tp = = p
ωd ωn 1 − ζ 2

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 18 / 24

Second Order System Time Domain Specifications:

Maximum Overshoot, Mp :
It is the maximum peak
value of the response curve
measured from unity.

πζ
−p
Mp = e 1 − ζ 2 × 100

Note: If the steady-state value is not 1, the maximum percent overshoot is used:
y (tp ) − y (∞)
Maximum Percent Overshoot = × 100
y (∞)
Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 19 / 24
Second Order System Time Domain Specifications:

Settling Time, ts :
It is the time required for
the response curve to reach
and stay within a range
about the final value of
size specified by absolute
percentage of the final value
(usually 2% or 5%).

ts = 4/ζωn 2% criterion

ts = 3/ζωn 5% criterion

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 20 / 24

Second Order System Time Domain Specifications:

π−θ π−θ jω
tr = = p
ωd ωn 1 − ζ 2

π π
tp = = p
ωd ωn 1 − ζ 2 ζ ωn

πζ

ωd
−p
Mp = e 1 − ζ 2 × 100
θ
σ
ts = 4/ζωn 2% criterion
cos(θ) = ζ

ts = 3/ζωn 5% criterion

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 21 / 24

Second Order System Time Domain Specifications:
Example 1:

Example
A second order system with damping ratio 0.6 and natural undamped frequency 5 rad/sec.
1 Write the system transfer function.
2 If the system is subjected to a unit-step input, obtain the rise time tr , peak time tp ,
maximum overshoot Mp , and settling time ts at 2% and 5% criterion.

π jω
25 tp = p = 0.785 s
G (s) = 2 ωn 1 − ζ 2
s + 6s + 25
π−θ πζ ζ ωn
tr = p = 0.55 s −p
ωn 1 − ζ 2 1 − ζ 2 × 100 = 9.5%
Mp = e

ωd
p
ωn 1 − ζ 2 ts = 4/ζωn = 1.33 s 2% criterion θ
θ = tan−1 = 0.93 rad cos(θ) = ζ
σ
ζωn
ts = 3/ζωn = 1 s 5% criterion

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 22 / 24

Second Order System Time Domain Specifications:
Example 2:

Example
A second order system has the following response when is subjected to a step input.
1 Write the system transfer function.

πζ
−p
1 − ζ 2 = 0.254 π
Mp = e tp = p =3s
ωn 1 − ζ 2
πζ π
−p ωn = p = 1.07 rad/sec
ln(e 1 − ζ 2 ) = ln(0.254) tp 1 − ζ 2
πζ 1.072
p = 1.73 G (s) =
1 − ζ2 s2 + 2 ∗ 1.07 ∗ 0.226s + 1.072
ζ = 0.226 negative not allowed

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 23 / 24

 End of Lecture

Best Wishes

haitham.elhussieny@gmail.com

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 24 / 24