University of Computer Studies (Taunggyi) Modern Control Systems

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 the transfer function of a control system is 2,
then the system is said to be second order control system.
• The general expression of the transfer function of a second order control system is given
as:
𝐶(𝑠) 𝜔𝑛2
= 2
𝑅(𝑠) 𝑠 + 2ζ𝜔𝑛 𝑠 + 𝜔𝑛2

• Here, ζ and ωn are the damping ratio and natural frequency of the system, respectively
(we will learn about these two terms in detail later on).
• If the denominator of the expression is zero,
𝑠 2 + 2ζ𝜔𝑛 𝑠 + 𝜔𝑛2 = 0
𝑠 2 + 2ζ𝜔𝑛 𝑠 + ζ2 𝜔𝑛2 − ζ2 𝜔𝑛2 + 𝜔𝑛2 = 0
(𝑠 + ζ𝜔𝑛 )2 − ζ2 𝜔𝑛2 + 𝜔𝑛2 = 0
2
(𝑠 + ζ𝜔𝑛 )2 + (𝜔𝑛 √1 − ζ2 ) = 0

𝑠 = −𝜔𝑛 ζ + 𝑗𝜔𝑛 √1 − ζ2 or 𝑠 = −𝜔𝑛 ζ − 𝑗𝜔𝑛 √1 − ζ2

• These two roots of the equation or these two values of ‘s’ represent the poles of the
transfer function of that system.
• The real part of the roots represents the damping and imaginary part represents damped
frequency of the response.
Note:
The dynamic behavior of the second-order system can then be described in terms of two
parameter ζ and ωn.

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) = 2
𝑠 + 2ζ𝜔𝑛 𝑠 + 𝜔𝑛2

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:

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• If 0 < ζ < 1, the closed-loop poles are complex conjugates and lie in the left-half s
plane. The system is then called underdamped, and the transient response is
oscillatory.
• If ζ = 1, the system is called critically damped.
• If ζ > 1, the system is called overdamped. The transient response of critically damped
and overdamped systems do not oscillate.
• If ζ = 0, the transient response does not die out.

Damping Ratio, ζ

• It measures the degree of resistance to change in the system output.

• 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.

Natural Undamped Frequency, ωn

• The frequency of the system oscillations without damping.

• 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.

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Example 1: Determine the natural frequency and damping ratio of the poles from the
following PZ-map.

Solution:

ωn1 = 1 rad/sec ωn2 = 4 rad/sec

ζ1 = ζ2 = cos(0) = 1

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

Solution:
ωn1 = 2 rad/sec ωn2 = 2 rad/sec

ζ1 = ζ2 = 0.5 (underdamped)

Note:
The performance of the control system can be expressed in the term of transient
response to a unit step input function because it is easy to generate.
• If ωn increases the oscillation frequency will increase.
• If ζ decreases the damping is decreased and the system begins to oscillate.

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Time Domain Specifications Of Second-Order Control System.

The performance of a system in time domain is usually evaluated in terms of the

following qualities.
• How fast it is able to respond to the input.
• How fast it is reaching the desired output,
• What is the error between the desired output and the actual output, once the
transients die down and steady state is achieved,
• Does it oscillate around the desired value, and
• Is the output continuously increasing with time or is it bounded?
• Our system is Stable or not?
There are number of common terms in transient response characteristics and which
are
• Delay time (td): It is the time required for the response to reach 50% of the steady state
value for the first time.

• Rise time (tr) : It is the time required for the response to reach 100% of the steady state
value for under damped systems. However, for over damped systems, it is taken as the
time required for the response to rise from 10% to 90% of the steady state value.

• Peak time (tp): It is the time required for the response to reach the maximum or Peak
value of the response.

• Maximum overshoot (Mp): It is defined as the difference between the peak value of
the response and the steady state value. It is usually expressed in percent of the steady
state value.

If the time for the peak is tp (If the steady-state value is not 1), percent peak overshoot
is given by,

• Settling time (ts) is the time required for a response to become steady. It is defined as
the time required by the response to reach and steady within specified range of 2 % to
5 % of its final value.
For 2% criterion:

For 5% criterion:

• Steady-state error (ess ) is the difference between actual output and desired output at
the infinite range of time.
• Damped natural frequency of a second order system is given by: 𝜔𝑑 = 𝜔𝑛 √1 − ζ2

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Example 3: 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.

Solution:
(1) The second order system transfer function is:
𝜔𝑛2
𝐺(𝑠) = 2
𝑠 + 2ζ𝜔𝑛 𝑠 + 𝜔𝑛2
Where ζ = 0.6, and ωn = 5 rad/sec, then
25
𝐺(𝑠) = 2
𝑠 + 6𝑠 + 25

(2) With unit-step input

𝜔𝑛 √1 − ζ2
𝜃 = 𝑡𝑎𝑛−1 = 0.93 𝑟𝑎𝑑
ζ𝜔𝑛

𝜋−𝜃
𝑡𝑟 = = 0.55 𝑠
𝜔𝑛 √1 − ζ2

𝜋
𝑡𝑝 = = 0.785 𝑠
𝜔𝑛 √1 − ζ2
𝜋ζ
−
𝑀𝑝 = 𝑒 √1−ζ2 × 100 = 9.5 %

4
For ts at 2% criterion, 𝑡𝑠 = ζ𝜔 = 1.33 𝑠
𝑛

3
For ts at 5% criterion, 𝑡𝑠 = ζ𝜔 = 1 𝑠
𝑛

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Example 4: A second order system has a natural angular frequency of 2.0 rad/s and a
damped frequency of 1.8 rad/s. What are its (a) damping factor, (b) 100% rise time, (c)
percentage overshoot, (d) 2% settling time, and (e) the number of oscillations within the 2%
settling time?
Solution:
(a) Since 𝜔𝑑 = 𝜔𝑛 √1 − ζ2 , then the damping factor is given by:

1.8 = 2.0 √1 − ζ2 and ζ = 0.44

(b) Since 𝜔tr = ½ 𝜋 , then the 100% rise time is given by
𝜋
𝑡𝑟 = = 0.87 𝑠
2 × 1.8
(c) The percentage overshoot is given by:
𝜋ζ −0.44𝜋
−
𝑀𝑝 = 𝑒 √1−ζ2 × 100 = 𝑒 √1−0.442 × 100 = 21%
(d) The 2 % settling time is given by:
4
𝑡𝑠 = = 4.5 𝑠
ζ𝜔𝑛
(e) The number of oscillations occurring within the 2 % settling time is given by:
2 1 2 1
Number of oscillations = 𝜋 √ 2 − 1 = √ − 1 = 1.3
ζ 𝜋 0.442

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Example 5: The input of the system that is depicted in figure (3) is a unit-step function.
Given that J = 0.6 and ωn = 5rad/s, compute ωd, tr , tp, Mp, and ts.

Solution
The transfer function of the system is

It is a second-order system with a unit-step input; hence,

𝜔𝑛 √1 − J 2
𝜋 − 𝑡𝑎𝑛−1
J𝜔𝑛
𝑡𝑟 = = 0.553 𝑠
𝜔𝑑

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𝜋ζ
−
𝑀𝑝 = 𝑒 √1−ζ2 × 100 = 9.5%

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Example 6: A feedback system is described by the following transfer function
16
𝐺(𝑠) = 𝑠2 +4𝑠+16 , H(s) = Ks. The damping factor of the system is 0.8. Determine the
overshoot of the system and value of ‘K’.
Solution:
𝐶(𝑠) 𝐺(𝑠) 16
= = 2
𝑅(𝑠) 1 + 𝐺(𝑠)𝐻(𝑠) 𝑠 + (4 + 16𝐾)𝑠 + 16
𝑠 2 + (4 + 16𝐾)𝑠 + 16 = 0 is the characteristic equation:
Compare with 𝑠 2 + 2ζ𝜔𝑛 𝑠 + 𝜔𝑛2
𝜔𝑛2 = 16
𝑟𝑎𝑑
𝜔𝑛 = 4
𝑠𝑒𝑐
2ζ𝜔𝑛 = 4 + 16𝐾
2 x 0.8 x 4 = 4 + 16𝐾
K =0.15
𝜋ζ
−
√1−ζ2
𝑀𝑝 = 𝑒 × 100 = 1.5%

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Example 7: The open loop transfer function of a servo system with unity feedback is given
10
by 𝐺(𝑠) = (𝑠+2)(𝑠+5) . Determine the damping ratio, undamped natural frequency of
oscillation. What is the percentage overshoot of the response to unit step input.
Solution:
10
𝐺(𝑠) = (𝑠+2)(𝑠+5) and H(s) =1
10
𝐶(𝑠) 𝐺(𝑠) (𝑠 + 2)(𝑠 + 5)
= =
𝑅(𝑠) 1 + 𝐺(𝑠)𝐻(𝑠) 10
1+
(𝑠 + 2)(𝑠 + 5)
10
The characteristic equation is : 1 + (𝑠+2)(𝑠+5) = 0

𝑠 2 + 7𝑠 + 20 = 0

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Compare with 𝑠 2 + 2ζ𝜔𝑛 𝑠 + 𝜔𝑛2 = 0

𝜔𝑛2 = 20
𝑟𝑎𝑑
𝜔𝑛 = 4.472
𝑠𝑒𝑐
2ζ𝜔𝑛 = 7
ζ = 0.7826
𝜋ζ
−
𝑀𝑝 = 𝑒 √1−ζ2 × 100 = 1.92 %
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Example 8: For the control system shown in Figure, determine k and a that satisfies the
following requirements:
1. Maximum percentage overshoot P.O =10%.
2. The 5% settling time ts = 1 sec.

Solution:
Maximum percentage overshoot P.O, Mp = 10 %
𝜋ζ
−
𝑀𝑝 = 𝑒 √1−ζ2 × 100
𝜋ζ
10 −
√1−ζ 2
= 𝑒
100
𝜋ζ
−
ln(0.1) = ln [𝑒 √1−ζ2 ]

𝜋ζ
- 2.3 = −
√1−ζ2

2.3 x √1 − ζ2 = 3.14 ζ
5.29 – 5.29ζ2 = 9.86 ζ2
ζ = 0.6

For 5%, the settling time ts = 1 s:

3
𝑡𝑠 =
ζ𝜔𝑛
3
1=
0.6𝜔𝑛
𝜔𝑛 = 5

The closed loop transfer function is given by:

𝑘 1
𝐶(𝑠) (𝑠 + 𝑎 ) (𝑠 + 2) 𝑘 𝑘
= = = 2
𝑅(𝑠) 1 + ( 𝑘 ) ( 1 ) (𝑠 + 𝑎)(𝑠 + 2) + 𝑘 𝑠 + 𝑠(𝑎 + 2) + (2𝑎 + 𝑘)
𝑠+𝑎 𝑠+2

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Comparing above transfer function with general 2nd order transfer function:
𝐶(𝑠) 𝜔𝑛2
= 2
𝑅(𝑠) 𝑠 + 2ζ𝜔𝑛 𝑠 + 𝜔𝑛2

s(a + 2) = 2ζ𝜔𝑛 𝑠 and (2a + k) = 𝜔𝑛2

a + 2 = 2 x 0.6 x 5
a=4

(2a + k) = 𝜔𝑛2 = 25
2x4 + k = 25
k = 17
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Example 9: For the system shown in Figure, determine the values of gain K and velocity-
feedback constant Kh so that the maximum overshoot in the unit-step response is 0.2 and the
peak time is 1 sec. With these values of K and Kh, obtain the rise time and settling time.
Assume that J=1 kg-m2 and B=1 N-m/rad/sec.

Solution:

𝐶(𝑠) 𝐾
= 2
𝑅(𝑠) 𝐽𝑠 + (𝐵 + 𝐾𝐾ℎ )𝑠 + 𝐾

Since J= 1 kgm2 and B = 1Nm/rad/sec

𝐶(𝑠) 𝐾
= 2
𝑅(𝑠) 𝑠 + (1 + 𝐾𝐾ℎ )𝑠 + 𝐾
Comparing above transfer function with general 2nd order transfer function:
𝐶(𝑠) 𝜔𝑛2
= 2
𝑅(𝑠) 𝑠 + 2ζ𝜔𝑛 𝑠 + 𝜔𝑛2
(1+𝐾 𝐾ℎ )
𝜔𝑛 = √𝐾 and ζ= 2√𝐾

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Maximum overshoot = 0.2 and peak time = 1 sec

𝜋ζ
−
𝑀𝑝 = 𝑒 √1−ζ2
𝜋ζ
−
ln(0.2) = ln [𝑒 √1−ζ2 ]

ζ = 0.456

𝜋
𝑡𝑝 =
𝜔𝑛 √1 − ζ2
3.14
1=
𝜔𝑛 √1 − 0.4562

𝜔𝑛 = 3.53

Then, 𝜔𝑛 = √𝐾
K =12.5

(1 + 𝐾 𝐾ℎ )
ζ=
2√𝐾
0.456 x 2√12.5 = (1 + 12.5Kh )
Kh = 0.178

𝜋−𝜃
𝑡𝑟 = = 0.65 𝑠
𝜔𝑛 √1 − ζ2

3
For ts at 5% criterion, 𝑡𝑠 = ζ𝜔 = 1.86 𝑠
𝑛
4
For ts at 2% criterion, 𝑡𝑠 = ζ𝜔 = 2.48 𝑠
𝑛
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Example 10: When the system shown in Figure(a) is subjected to a unit-step input, the
system output responds as shown in Figure(b). Determine the values of a and c from the
response curve.
a
s(cs 1)

Solution:
𝜋ζ
−
𝑀𝑝 = 𝑒 √1−ζ2 = 0.254

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𝜋ζ
−
ln(0.254) = ln [𝑒 √1−ζ2 ]

ζ = 0.4

𝜋
𝑡𝑝 = =3𝑠
𝜔𝑛 √1 − ζ2
3.14
3=
𝜔𝑛 √1 − 0.42
𝜔𝑛 = 1.14 𝑟𝑎𝑑/𝑠𝑒𝑐

𝐶(𝑠) 1.142
=
𝑅(𝑠) 𝑠 2 + (2 x 1.14 x 0.4)𝑠 + 1.142

𝐶(𝑠) 1.142
= 2
𝑅(𝑠) 𝑠 + 0.912𝑠 + 1.142

From the block diagram we have,

𝑎
𝐶(𝑠) 𝐺(𝑠) 𝑐𝑠 2+𝑠
= = 𝑎
𝑅(𝑠) 1 + 𝐺(𝑠)𝐻(𝑠) 1+ 2
𝑐𝑠 + 𝑠
𝑎
𝐶(𝑠) 𝑐
=
𝑅(𝑠) 𝑠 2 + 𝑠 + 𝑎
𝑐 𝑐

𝑎 1
From which, 𝜔𝑛 = √ 𝑐 , 2ζ 𝜔𝑛 = 𝑐
Therefore, the values of a and c are determined as:
1 1
c = 2ζ 𝜔 = 2 x 0.4 x 1.14 = 1.09
𝑛

𝑎 = 𝜔𝑛2 c = 1.142 x 1.09 = 1.42

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