Second order system response.

Im(s)

Underdamped
Unstable

Undamped
Overdamped or Critically damped
Re(s)

Underdamped
Overdamped system response

System transfer function :

Impulse response :

Step response :
Overdamped and critically damped system response.
Overdamped and critically damped system response.

Overdamped
Overdamped and critically damped system response.

Overdamped
Overdamped and critically damped system response.

Critically damped
Polar vs. Cartesian representations.
Polar vs. Cartesian representations.
System transfer function :

All 4 cases Unless overdamped

… Cartesian overdamped

Significance of the damping ratio :

… Overdamped
… Critically damped
… Underdamped

… Undamped
Polar vs. Cartesian representations.
System transfer function :

All 4 cases Unless overdamped

… Cartesian overdamped

Significance of the damping ratio :

… Overdamped
… Critically damped
… Underdamped

… Undamped
Polar vs. Cartesian representations.
System transfer function :

All 4 cases Unless overdamped

… Cartesian overdamped

Significance of the damping ratio :

… Overdamped Overdamped case:

… Critically damped
… Underdamped

… Undamped
Second order impulse response – Underdamped and Undamped

Impulse response :
Second order impulse response – Underdamped and Undamped

Increasing / Fixed

Impulse Response
1

0.8

0.6

0.4
Amplitude

0.2

-0.2

-0.4
0 0.5 1 1.5 2 2.5 3
Time (sec)
Second order impulse response – Underdamped and Undamped

Increasing / Fixed

Impulse Response
1

0.8

0.6

0.4
Amplitude

0.2

-0.2

-0.4
0 0.5 1 1.5 2 2.5 3
Time (sec)
Second order impulse response – Underdamped and Undamped

Increasing / Fixed

Impulse Response
1

0.8

0.6

0.4
Amplitude

0.2

-0.2

-0.4
0 0.5 1 1.5 2 2.5 3
Time (sec)
Second order impulse response – Underdamped and Undamped

Increasing / Fixed

Impulse Response
1

0.8

0.6

0.4
Amplitude

0.2

-0.2

-0.4
0 0.5 1 1.5 2 2.5 3
Time (sec)
Second order impulse response – Underdamped and Undamped

Increasing / Fixed

Impulse Response
0.1

0.08

0.06

0.04

0.02
Amplitude

-0.02

-0.04

-0.06

-0.08

-0.1
0 0.5 1 1.5 2 2.5 3
Time (sec)
Second order impulse response – Underdamped and Undamped

Increasing / Fixed

Impulse Response
0.1

0.08

0.06

0.04

0.02
Amplitude

-0.02

-0.04

-0.06

-0.08

-0.1
0 0.5 1 1.5 2 2.5 3
Time (sec)
Second order impulse response – Underdamped and Undamped

Increasing / Fixed

Impulse Response
0.1

0.08

0.06

0.04

0.02
Amplitude

-0.02

-0.04

-0.06

-0.08

-0.1
0 0.5 1 1.5 2 2.5 3
Time (sec)
Second order impulse response – Underdamped and Undamped

Increasing / Fixed

Impulse Response
0.1

0.08

0.06

0.04

0.02
Amplitude

-0.02

-0.04

-0.06

-0.08

-0.1
0 0.5 1 1.5 2 2.5 3
Time (sec)
Second order impulse response – Underdamped and Undamped

Increasing / Fixed

Impulse Response
6

3
Amplitude

-1
0 0.5 1 1.5 2 2.5 3 3.5 4
Time (sec)

10

-5

-10
-6 -4 -2 0 2
Second order impulse response – Underdamped and Undamped

Increasing / Fixed

Impulse Response
6

3
Amplitude

-1
0 0.5 1 1.5 2 2.5 3 3.5 4
Time (sec)

10

-5

-10
-6 -4 -2 0 2
Second order impulse response – Underdamped and Undamped

Increasing / Fixed

Impulse Response
6

3
Amplitude

-1
0 0.5 1 1.5 2 2.5 3 3.5 4
Time (sec)

10

-5

-10
-6 -4 -2 0 2
Second order impulse response – Underdamped and Undamped

Increasing / Fixed

Impulse Response
6

3
Amplitude

-1
0 0.5 1 1.5 2 2.5 3 3.5 4
Time (sec)

10

-5

-10
-6 -4 -2 0 2
Second order impulse response – Underdamped and Undamped

Increasing / Fixed

Impulse Response
5

2
Amplitude

-1

-2

-3

-4
0 2 4 6 8 10 12
6
Time (sec)
4
2

0
-2
-4

-6
-5 0 5
Second order impulse response – Underdamped and Undamped

Increasing / Fixed

Impulse Response
5

2
Amplitude

-1

-2

-3

-4
0 2 4 6 8 10 12
6
Time (sec)
4
2

0
-2
-4

-6
-5 0 5
Second order impulse response – Underdamped and Undamped

Increasing / Fixed

Impulse Response
5

2
Amplitude

-1

-2

-3

-4
0 2 4 6 8 10 12
6
Time (sec)
4
2

0
-2
-4

-6
-5 0 5
Second order impulse response – Underdamped and Undamped

Increasing / Fixed

Impulse Response
5

2
Amplitude

-1

-2

-3

-4
0 2 4 6 8 10 12
6
Time (sec)
4
2

0
-2
-4

-6
-5 0 5
Second order step response – Underdamped and Undamped
3 3 3 3

2 2 2 2

1 1 1 1
output
0 0 0 0

−10+j5 −2+j5
−1 −1 −1 +j5 −1
zeta=0.8944 zeta=0.3714 zeta=0 0.2+j5
−2 −2 −2 −2
0 5 0 5 0 5 0 5
time sec. time sec. time sec. time sec.

3 3
40
2 2
1.5 30

1 1 0.2+j0.5
20
output 1
0 0 10
−10+j0.5 −2+j0.5 +j0.5
zeta=0.998 zeta=0.97 0.5 zeta=0
−1 −1 0

−2 −2 0 −10
0 5 0 5 0 10 20 0 10 20
time sec. time sec. time sec. time sec.
Second order impulse response – Underdamped and Undamped

Higher frequency oscillations

Faster response Slower response

Unstable
Lower frequency oscillations
Second order impulse response – Underdamped and Undamped

Less damping

Unstable
More damping
Second order step response – Time specifications.

1.4

1.2

0.8

0.6

0.4

0.2

0
0 0.5 1 1.5 2 2.5 3
Second order step response – Time specifications.

… Steady state value.

… Time to reach first peak (undamped or underdamped only).
… % of in excess of .
… Time to reach and stay within 2% of .
… Time to rise from 10% to 90% of .
1.4

1.2

0.8

0.6

0.4

0.2

0
0 0.5 1 1.5 2 2.5 3
Second order step response – Time specifications.

… Steady state value.

More generally, if the numerator is not , but some :

Second order step response – Time specifications.

… Peak time.

Therefore,

is the time of the occurrence of the first peak :