Analysis of Second Order Systems
The order of a system is the order of the denominator of the
system.
The knowledge on analysis of second order systems are
important since it provides the base for analysing high order
systems.
Note that, normally, the practical systems are high order
system, i.e. the order is higher than two.
The standard form of a second order system is given by
𝝎𝒏 𝟐
𝑮(𝒔) = 𝟐
𝒔 + 𝟐𝜻𝝎𝒏 𝒔 + 𝝎𝒏 𝟐
Analysis of Second Order Systems
The standard form of a second order system is given by
𝝎𝒏 𝟐
𝑮(𝒔) = 𝟐
𝒔 + 𝟐𝜻𝝎𝒏 𝒔 + 𝝎𝒏 𝟐
𝜔𝑛 − Undamped natural frequency (𝜔𝑛 > 0)
𝜁 − Damping ratio
The poles of the system:
𝑠 2 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛2 = 0
−2𝜁𝜔𝑛 ± 2𝜁𝜔𝑛 2 − 4𝜔𝑛2
𝑠1,2 =
2
𝑠1,2 = −𝜁𝜔𝑛 ± 𝜔𝑛 𝜁2 − 1
Analysis of step response of the second order system
The standard form of a second order system is given by
𝝎𝒏 𝟐
𝑮(𝒔) = 𝟐
𝒔 + 𝟐𝜻𝝎𝒏 𝒔 + 𝝎𝒏 𝟐
The Laplace transform of the step response can be found as follows:
𝑌 𝑠 𝜔𝑛2
𝐺 𝑠 = = 2
𝑅 𝑠 𝑠 + 2𝜁𝜔𝑛𝑠 + 𝜔𝑛2
1
Since R(𝑠) = 𝑠
1 𝜔𝑛2
𝑌 𝑠 =
𝑠 𝑠 2 + 2𝜁𝜔𝑛𝑠 + 𝜔𝑛 2
Analysis of unit step response of the second order system
There are five situations depend on 𝜁.
1. 𝛇 = 0 (Undamped System)
2. 𝟎 < 𝛇 < 1 (Underdamped System)
3. 𝛇 = 1 (Critically damped System)
4. 𝛇 > 1 (Overdamped System)
5. 𝛇 < 𝟎 (Unstable System)
Unit step response of the second order system as a function of 𝜻 )
𝐖𝐡𝐞𝐧 𝛇 = 0, Undamped System
𝑠1,2 = −𝜁𝜔𝑛 ± 𝜔𝑛 𝜁 2 − 1 𝑠1,2 = ± 𝑗𝜔𝑛
1 𝜔𝑛 2
𝑌 𝑠 = 𝜔𝑛 is called Undamped Natural
𝑠 𝑠 2 + 𝜔𝑛 2
Frequency.
𝑦 𝑡 = 1 − cos 𝜔𝑛 𝑡
Poles Step response
y(t)
Unit step response of the second order system as a function of 𝜻
𝐖𝐡𝐞𝐧 𝟎 < 𝛇 < 1, Underdamped System
𝑠1,2 = −𝜁𝜔𝑛 ± 𝑗𝜔𝑛 1 − 𝜁 2
𝑠1,2 = −𝜁𝜔𝑛 ± 𝜔𝑛 𝜁2 − 1
1 𝜔𝑛 2
𝑌 𝑠 =
𝑠 𝑠 2 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛 2
−𝜁𝜔𝑛 𝑡
𝜁
𝑦 𝑡 =1−𝑒 𝑐𝑜𝑠 𝜔𝑛 1 − 𝜁2 𝑡 + 𝑠𝑖𝑛 𝜔𝑛 1 − 𝜁 2 𝑡
1 − 𝜁2
Poles Step response
y(t)
Unit step response of the second order system as a function of 𝜻
𝐖𝐡𝐞𝐧 𝟎 < 𝛇 < 1, Underdamped System
𝑠1,2 = −𝜁𝜔𝑛 ± 𝑗𝜔𝑛 1 − 𝜁 2
𝑠1,2 = −𝜁𝜔𝑛 ± 𝜔𝑛 𝜁2 − 1
−𝜁𝜔𝑛 𝑡
𝜁
𝑦 𝑡 =1−𝑒 𝑐𝑜𝑠 𝜔𝑛 1 − 𝜁2 𝑡 + 𝑠𝑖𝑛 𝜔𝑛 1 − 𝜁 2 𝑡
1 − 𝜁2
𝜔𝑑 is called Damped Natural
𝜔𝑑 = 𝜔𝑛 1 − 𝜁 2
Frequency. Note 𝜔𝑑 < 𝜔𝑛 .
Poles Step response
y(t)
Unit step response of the second order system as a function of 𝜻
𝐖𝐡𝐞𝐧 𝛇 = 1, Critically damped System
𝑠1,2 = −𝜁𝜔𝑛 ± 𝜔𝑛 𝜁 2 − 1 𝑠1,2 = −𝜔𝑛
𝑌 𝑠 𝜔𝑛 2
𝐺 𝑠 = = 2
𝑅 𝑠 𝑠 + 𝜔𝑛
Step response:
1 𝜔𝑛 2
𝑌𝑠 =
𝑠 𝑠 + 𝜔𝑛 2 _
𝑦 𝑡 = 1 − 𝑒 −𝜔𝑛 𝑡 1 + 𝜔𝑛 𝑡
Poles Step response
y(t)
_
Unit step response of the second order system as a function of 𝜻
𝐖𝐡𝐞𝐧 𝛇 > 1, Overdamped System
𝑠1,2 = −𝜁𝜔𝑛 ± 𝜔𝑛 𝜁 2 − 1 (Negative real and unequal)
𝑌 𝑠
𝐺 𝑠 = =
𝑅 𝑠
𝑌 𝑠 =
𝑦 𝑡 =
Unit step response of the second order system as a function of 𝜻
𝐖𝐡𝐞𝐧 𝛇 > 1, Overdamped System
𝑠1,2 = −𝜁𝜔𝑛 ± 𝜔𝑛 𝜁 2 − 1
𝑦 𝑡 =
Poles Step response
y(t)
Unit step response of the second order system as a function of 𝜻
• Same analysis can be done when ζ < 0.
𝑠1,2 = −𝜁𝜔𝑛 ± 𝜔𝑛 𝜁 2 − 1
• Then, −ζ𝜔𝑛 > 0, therefore, two poles are in RHP.
The step response is unbounded.
y(t)
Unit step response curves of the second order system with the
variation of 𝜻
Homework
Derive unit impulse responses of the second order system considering the previously
discussed five conditions for the damping ratio.
