Transient Response for 2nd-Order System

In the last lecture, we learned:

Transient Step
Pole-Zero Map
Response
1st-order systems
2nd-Order Systems:

b
Let, G( s) 
s 2  as  b 2
 a 
a2 b   1 2
 a  a 2  4b 2 b  a   a 
Poles: p1 , p2     . b  b   1
2 2 2 b  2 b 

Let, a
   damping ratio and, b  n  natural frequency of oscillatio n
2 b

So, p1 , p2   n  n  2  1

1
Now,
G( s)  2
b

 b 2

 2
n 2
s  as  b s 2  2.
a
2 b
. bs   b
2
s  2 n s  n
2

We want to establish the following interconnection:

Pole-Zero ζ, ωn
Map

Transient Step
Response

p1 , p2   n  n  2  1 3 possible cases:

Case 1: Real Poles,  1

1(a): Distinct Real Poles,  1

So, p1   1   n  n  2  1 and, p2   2   n  n  2  1

2
So, n 2 jω
G( s) 
( s   1 )( s   2 )

Pole-Zero Map: 
2 1
Unit-Step Response: n 2
G( s) 
( s   1 )( s   2 )

n 2 1 k1 k2
C ( s)    
s ( s   1 )( s   2 ) s (s   1 ) (s   2 )

So, 
c(t )  1  k1e1t  k2e 2t u(t ) 
This is called, ‘Over-damped Response’.
C(t)

3
t
1(b): Repeated Real Poles,  1 jω
we had, p , p      1
1 2 n n
2

So, p1  p2  1   2  n
Pole-Zero Map: 
1= 2
Unit-Step Response:
n 2
G( s) 
(s   1 )2

n 2 1 k1 k2
C ( s)    
s( s   1 ) 2 s ( s   1 ) ( s   1 )2
 1t
 1t
So, c(t )  1  k1e  k2te u(t ) 
This is called, ‘Critically-damped’ response.
C(t)
Critically-damped

Over-damped
4
t
Case 2: Complex Poles, 0   1
We had, p , p     
1 2 n n
2
1

So, p    j 1  
1 n n
2
  1  j1 and, p2   n  jn 1   2   2  j2

Here,  1 and, 2    1 2

So, p1  p2
So, complex poles always appear in conjugate pairs.
jω
Pole-Zero Map: 1  n 1   2
p1


1   2
  n
2  n 1   2
p2

Here, 1 and 2 are called damped frequency of oscillation.

General notation of damped frequency of oscillation:
d  n 1   2 5
Unit-Step Response: G( s) 
n 2
( s  p1 )( s  p2 )

C ( s) 
n 2
s( s  p1 )( s  p2 )
1
 
k1

k2
s ( s  p1 ) ( s  p2 )

c(t )  1  k1e p1t  k2e p2t u(t ) 
Here, n2 n2 n2
k1   
s ( s  p2 ) s  p p1 ( p1  p2 ) ( n  jn 1   2 )( n  jn 1   2   n  jn 1   2 )
1

n2

( n  jn 1   2 )( j 2n 1   2 )

( n  jn 1   2 )n2


( n  jn 1   2 )( n  jn 1   2 )( j 2n 1   2 )

( n  jn 1   2 )n2


( 2n2  n2 [1   2 ])( j 2n 1   2 )

( n  jn 1   2 )n2   n  jn 1   2

 
( 2n2  n2   2n2 ])( j 2n 1   2 ) j 2n 1   2

1 j 
  1  
2  1   2 
6
Similarly, we get:
n2 n2 n2
k2   
s( s  p1 ) s  p p2 ( p2  p1 ) ( n  jn 1   2 )( j 2n 1   2 )
2

( n  jn 1   2 )n2


( n  jn 1   2 )( n  jn 1   2 )( j 2n 1   2 )

( n  jn 1   2 )n2


( 2n2  n2 [1   2 ])( j 2n 1   2 )

( n  jn 1   2 )n2


( 2n2  n2   2n2 ])( j 2n 1   2 )


  n  jn 1   2 1 j 
  1  
 j 2n 1   2 2  1   2 

So, c(t )  1  k1e  k2e u(t )

 1 j    j 1 2  t 1 j    j 1 2  t 
 1  (1  )e  
 (1  )e  
u (t )
n n n n
p1t p2 t
 2 1  2 2 1  2 

 1 j j  n 1 2  t 1 j  j  n 1 2  t 
 1  e  nt  (1  )e  
 (1  )e  
 u (t )
  2 1  2 2 1  2  

Putting, e jn 1 2 t

 
 cos n 1   2 t  j sin n 1   2 t   and, e jn 1 2 t
 
 cos n 1   2 t  j sin n 1   2 t 
 
cos         u7(t)
1  j  1 j 
c(t )  1  e  nt  1  1   2 t  j sin n 1   2 t  1   cos  1   2 t  j sin  1   2 t
  2   2  
n n n

 1  2  1  2  
  
1 
c(t )  1  e  nt  1 
  2 
j
1  2


 n  n  
 cos  1   2 t  j sin  1   2 t  1 1  j
2  1  2

   
 cos  1   2 t  j sin  1   2 t
 n n 
 u (t )
 
   

Multiplying and removing common terms, we have:


c(t )  1  e

 n t


cos n 1   t 

2 
1 

2

sin n 1   t  u (t )
2

 


 1 

1
1  2
   
e  nt 1   2 cos n 1   2 t   sin n 1   2 t u(t)

Exponential decay generated
Let, 1   2  sin 
by real part of poles
So, cos   

Putting these in, we get: 1


c(t )  1 

1
1  2

e  nt sin n 1   2 t   u(t) Sinusoidal oscillation generated

by imaginary part of poles
where,   cos 1 

This is called, ‘Under-Damped’ response. 8

Q: Draw c(t) as a function of ζ (qualitatively).

Important: how pole position varies with ζ ?

9
Case 3: Purely Imaginary Poles,   0
We had, p , p      1
1 2 n n
2
jω
So, p  j1 n and, p   j 2 n
 n

Pole-Zero Map:


Unit-Step Response:  n
n 2
G( s) 
( s  jn )( s  jn )

n 2 n 2 1
  2
s
C ( s)  
s( s  jn )( s  jn ) s( s 2  n2 ) s s  n2

Thus, ct   1 cosnt ut 

C(t)

This is called ‘Un-damped’ response.

1

t 10
Step responses for 2nd-oder systems:

Comments about different responses:

 OD and CD  ζ is large (ζ > 1). Transient decays without oscillation.
 OD  sluggish response
 CD  fastest settling time Ts
 UD: for ζ = 0.5 to 0.8, the response reaches close to the final value more
rapidly than a CD or OD system. Tr is the lowest.
11