Lecture#6

Time Domain Response of Dynamic Systems

(Part-2)

Ir. Fahri Heltha

SYSTEM DYNAMICS (EM218/EM316)

 Introduction
In the previous lecture, transient response analysis
for first order systems has been performed.
The transient response of first order system depends
on its time constant ().

Now, we will perform transient response analysis for

second order systems.
 Time Domain Response Analysis

Second Order System

Consider the spring-mass system without
damping.

We shall obtain the response of the system

when the mass is displaced downward by a
distance x(0).

Let the initial velocity x (0)  0.

The response of the system is: x(t )  x(0) cos k t

m
which depends on initial displacement.
 Time Domain Response Analysis
Second Order System
This response is a free vibration without damping.

x(t )  x(0) cos k t

m
 Time Domain Response Analysis
Second Order System

Damping is always present in actual mechanical systems,

although in some cases it may be negligibly small.

We will look at the general transfer function model for

second order systems in order to predict the behavior of
the response.
 Time Domain Response Analysis

Second Order System

Consider the following general form of second order
system:

y(t )  2 n y (t )   y (t )   u (t )
2
n
2
n

Y (s)  2
 2 n
U ( s ) s  2 n s  n
2

where  and n are called as damping ratio and

natural frequency respectively.
u(t) is the input.
 Time Domain Response Analysis

Second Order System

With a unit step input, the following will be obtained:
 n2
Y (s) 

s s 2  2 n s   n2 
The system response in time domain is
1
y (t )  1  e  n t sin  n    

where
1
  1 2
  cos  0  1

y(t) depends on damping ratio and natural frequency.

 Time Domain Response Analysis
Second Order System
Poles (roots) location of the second order system.
s1,2   n  j 1   2  n   n  j d
where
 d is the "damped natural frequency".
Time Domain Response Analysis
Second Order System - Damping case

Note:
The overdamped
case can be
considered to be
two first-order
systems. One with
a slow time
constant and one
with a fast time
constant.
 Time Domain Response Analysis

Second Order System

• Second-Order Responses to a unit step input

As  decreases, the response becomes increasingly

oscillatory.
 Time Domain Response Analysis
Second Order System
Example 2
In the system shown in Figure, assume that m=1kg, b=2 N-
s/m, and k=100 N/m. The mass is displaced 0.05m and
released without initial velocity. Find the actual frequency
observed in the vibration (damped natural frequency, ).
 Time Domain Response Analysis

Second Order System

• Standard transient response are usually defined in
term of the step response of a 2nd order systems:
 Time Domain Response Analysis

Second Order System

• Rise time, Tr: the time required for the waveform to

go from 0 to 100% of the final value.
• Peak Time, Tp: the time to reach the first, or
maximum, peak.
• Percent Overshoot, PO: the amount of the maximum
peak – steady-state value.
• Settling time, Ts: the time required for transient’s
damped oscillation to reach and stay within 2% of
steady-state value.
 Time Domain Response Analysis
Second Order System

-Evaluation of Tp-
Tp is found by differentiating y(t) and finding the first zero
crossing after t=0.
 
Tp  
d n 1   2
-Evaluation of PO-  
Percent Overshoot is defined as 1 2
PO  100e
' Peak Value '' Final Value '
P.O.  x100%
' Final Value '
 Time Domain Response Analysis

Second Order System

-Evaluation of Ts-
For a second order system, we seek to determine the
time Ts for which the response remains within 2% of
the final value: 4
Ts  4 
 n
-Evaluation of Tr-
A precise analytical relationship between rise time and
damping ratio  cannot be found. However, it can be
found using numerically using computer.
 Time Domain Response Analysis

Second Order System

Example 3:
Consider the following second order system where all
initial conditions are zero.

y(t )  3 y (t )  4 y (t )  u (t )

Find the damping ratio (also the overshoot), the peak

time and the settling time of its step response.
y(t )  3 y (t )  4 y (t )  u (t )
 References

Close, Frederick and Newell. 2002.

Modeling and Analysis of Dynamic
Systems, 3rd ed. Chapters 7-8.

Ogata. 2004. System Dynamics, 4th ed.

Chapter 8.