Time Response of Second Order Systems

M d 2 y(t ) dy(t ) = f (t ) B Ky(t ) 2 dt dt M (s 2Y (s) sy(0) y' (0)) = F (s) B(sY (s) y(0)) KY (s) Let y' (0) = 0 Ms2Y (s) + BsY (s) + KY (s) = Msy0 + By0 + F (s) Or F ( s) (Ms + B) y0 + 2 2 Ms + Bs + K Ms + Bs + K Consider the first term only: (s + B / M ) y0 (s + 2n ) y0 = 2 Y ( s) = 2 s + ( B / M )s + K / M s + 2n s + n 2 Y ( s) = = dimensionless damping ratio n = the natural frequency

Where n = K ; M = B 2 KM
2

The characteristic equation s 2 + 2 n s + n has two roots : s1 = n + j n 1 2 s2 = n j n 1 2 If > 1 roots are real If < 1 roots are complex (under damped) If = 1 same roots and real (critically damped)
For unit step response : 1 y (t ) = 1 e nt sin( nt + ) = 1 2 , = tan 1 ( ) = cos 1

Step response: where

y (t ) = 1

1 nt e sin( n t + )

= 1 2 , = cos 1

Showing the step response with different damping coefficients

Standard Performance measures

Performance measures are usually defined in terms of the step response of a system as below: Swiftness of the response is measured by rise time Tr , and peak time Tp For underdamped system, the Rise time Tr (0-100% rise time) is useful, For overdamped systems, the the Peak time is not defined, and the (10-90 % rise time) T is normally used
r1

Peak time: T p Steady-state error: ess Settling time: T s Percent of Overshoot:

M
pt

P.O. =
M pt

fv

fv

100 %

is the peak value fv is the final value of the response

Percentage overshoot measures the closeness of the response to the desired response. The settling time T s is the time required for the system to settle within a certain percentage of the input amplitude. For second order system, we seek T s for which the response remains within 2% of the final value. This occurs approximately when:

e nTs < 0.02 or : nTs 4 Therefore : Ts 4 =

4 n

Hence the settling time is defined as 4 time constants.

Explicit relations for M pt and T p

To find Tp we can either differentiate y(t) directly or indirectly through Laplace Transform of y(t):

Tp =

= n n 1 2
1 2

The peak response is : M pt = 1 + e / P.O. = 100e / Percentage overshoot :

1 2

Impulse response of the second order system:

Laplace transform of the unit impulse is R(s)=1

2 (s n ) Impulse response: Transient response for the impulse function, which is simply is the derivative of the response to the unit step:

Y (s) =

n2 + 2 n s +

y (t ) =

n e

nt

sin( n t )

Responses and pole locations

Time Responses and Pole Locations:

The characteristic equation s 2 + 2 n s + n has two roots : s1 = n + j n 1 2 s2 = n j n 1 2
2

s1 , s2

are the poles.

Ts 4 =

4 n

Therefore the settling time is inversely proportional to the real part of the poles.