Automatic Control Systems, 3432

Department of Mechatronics Engineering, German Jordanian University

TIME RESPONSE OF SECOND ORDER SYSTEMS

Assume that the transfer function of the second order system is
X ( s) bo
G( s)   2 (1)
R( s) s  a1s  ao

The coefficients of the transfer function are usually written in a manner that they have a
physical meaning. The standard form of the 2nd order system is given by
 n2
G( s)  (2)
s 2  2 n s   n2

where  is defined as dimensionless damping ratio and n is defined as the natural frequency of the
system.
Now, consider the response of the second order system to a unit step input r (t )  u(t ) or
1
R( s) 
s
 n2
X (s)  R( s)
s 2  2 n s   n2
(3)
 n2

s ( s 2  2 n s   n2 )

Using partial fractions

1 K1 K2
X ( s)    (4)
s s  s1 s  s 2

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Automatic Control Systems, 3432
Department of Mechatronics Engineering, German Jordanian University

where s1 and s2 are the roots of the characteristic equation of the transfer function
s1,2   n   n  2  1 (5)

Case 1  1
In this case, the roots s1 and s2 are negative real roots, and the system response becomes
x(t )  1  K1e t 1  K 2 e t  2 (6)
Compared to the 1st order system analysis, the above system has two time constants.
1 1
1  and  2 
 n     2  1   n     2  1 
   
In this case, the system is said to be over-damped.

Case 2  1
In this case, the system has a double root at s1,2   n and the system response becomes

x(t )  1  K1 e  nt  K 2 t e  nt

(7)
t  t 
 1  K1 e  K 2t e
In this case, the system is said to be critically-damped.

Case 3  1
In this case, the roots s1 and s2 are complex
s1,2   n  j n 1   2 (8)

Time Response of Second Order Systems sites.google.com/site/ziyadmasoud 45

Automatic Control Systems, 3432
Department of Mechatronics Engineering, German Jordanian University

The time response in this case is a damped sinusoidal response in the form
1
x(t )  1  e  nt sin( 1   2  n t   ) (9)
1 2
where
 1 2 
  tan 1  
  
 

The time constant of the response is  1 and the frequency of the response is

 n
 d  1   2  n which is called the damped frequency of the system.
In this case, the system is said to be under-damped.

Time Response of Second Order Systems sites.google.com/site/ziyadmasoud 46

Automatic Control Systems, 3432
Department of Mechatronics Engineering, German Jordanian University

The roots of the response are shown in the figure below where
R 2  ( n ) 2  ( 1   2  n ) 2   n2
Then
 n
cos   
R

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