06 2second Order

2nd Order System
2009
Department of Engineering Physics, Faculty of Engineering, Gadjah Mada University

(Study Programs of Engineering Physics & Nuclear Engineering)
Jl. Grafika 2, Yogyakarta 55281, (+62 274) 580882, http://www.tf.ugm.ac.id/
2nd-order System
UGM
2nd-order system models are commonly used and

relatively simple, yet they illustrate many important
aspects of system behavior.
2nd-order system models usually are formulated using
the parameters:
Study Programs of Engineering Physics & Nuclear Engineering
Department of Engineering Physics, Faculty of Engineering
natural frequency n
damping ratio
gain K
SISO
x (t) 1 d y t 2 dy t
2 y (t)
y t Kxt
n dt
2 2
n dt
2
DE Models
UGM
Equation
d 2 yt dyt
a2 2
a1 a0 yt b0 xt
dt dt
Normal form qi1

1 d 2 y t 2 dy t
y t Kxt
n dt
2 2
n dt z1
qi2
a0
n
a2 z2
qo2
1 a1 1 a1

2 a0 a2 2 a2n
b0
K
a0
3
Response Depends on Damping Ratio
UGM
Underdamped system
(0<<1): Transient response
has oscillatory
characteristics.
Critically damped system
(=1): Transient response on
the verge of having

oscillatory characteristics.
Overdamped system (>1):
Transient response does not
have oscillatory
characteristics
4
UGM
Second Order System
5
Second Order System
UGM
Equation
1 d y t 2 dyt d2y
n u t
2 dy
yt 0
2 2
2 n n y
n dt n dt
2
2 2 dt dt
Free response no forcing function

2 dy 0
s Y s sy 0 2 sY s sy 0 2Y s 0
dt
n n
s 2 n y0 y 0
Y s 2 b b 2 4ac
s 2 n s n 2
2a
Poles s1,2 n n 2 n2
s 2 2 n s n2 0
s1,2 n n 2 1
6
Underdamped ( < 1), No Input
UGM
n
Equation d n 1 2
s 2 n y0 y 0
Y s 2 s 2 2 n s n2 s n 2n2 n2
2
s 2 n s n 2
s d2
2
s 2n y0 y 0 s 2 y0 y 0
Y s 2
s 2n s n 2
s 2 d2
Y s
s y0 y0 y 0 s y0 y0 y 0 d

s d s d s d d s 2 d2
2 2 2 2 2 2
y0 y 0 t t y0 y 0
yt y0e cos d t
t
e sin d t e y0 cos d t sin d t
d d
Oscillatory
1 dy0 t
yt y0e n t cos t sin d t e n sin d t
d
2 d dt
1
Decay
d n 1 2 7
Example: Underdamped ( < 1), No Input
UGM
Equation
1 d 2 y t 2 dyt
yt 0 d n 1 2
n dt
2 2
n dt
n = 1 rad/s = 0.2
t 2
d = 0.98 rad/s d
t
y(0) = 1 dy(0)/dt = 0
Equation
d 2 yt dy t Oscillatory decaying
10 2
4 10 yt 0
dt dt
yt e 0.2t cos0.98t 0.204 sin 0.98t
d is the damped natural frequency
8
Underdamped
UGM
Response decays exponentially with time constant e
= 0.2
1 d = 0.98 rad/s
t e e n = 1 rad/s
e n
e = 5 s
Settling time
4 e = 98%
5 e = 99%
t e
e
9
Underdamped Response
UGM
d < n (0 < < 1)

d is the damped natural frequency
n is the (undamped) natural frequency
n, d have units of radians/second
fn, fd are these frequencies in Hz
= 2 f
Time for one cycle:
1 2
t
f
10
Underdamped Step Response
UGM
n d n 1 2
Equation s 2 2 n s n2 s n 2n2 n2 s d2
2 2
1 d 2 y t 2 dy t d 2 yt dyt
y t Kut
n n Kut yt 2
n dt
2 2
n dt dt 2
dt

Zero initial condition

Kn2 Kn2
s Y s 2 n sY s Y s K
1
Y s 2

2 2 2
s s 2 n s n s s 2 d2
n n 2
s
K s K d
Y s
K

s s d d s 2 d2
2 2

y t K 1 e n t
cosd t sin d t
2
1
11
Log-Decrement Method (very low )
UGM
Steady state value: css
For very low
ith-peak 1 1
2
ci
ci+1
2 j i
jth-peak n
cj t j ti
1 ci css
ln
2 j i c j css
ti ti+1 tj
12
UGM
Log-Decrement Method (<1)
Steady state value: css
ith-peak
ci
ci+1
jth-peak
cj
2 1
n
ti 1 ti 1 2
ti ti+1 tj 1 ci css
ln
ci css ci 1 css
4 ln
ci 1 css
13
Critically Damped Step Response
UGM
Equation
1 d 2 y t 2 dy t 1 d 2 y t 2 dy t
y t Kut y t Kut
n dt
2 2
n dt n dt
2 2
n dt
= 1, zero initial condition

s Y s 2n sY s Y s K
1
s 2Y s 2 n sY s n2Y s Kn2
1 2 2 2
n n
s s
Kn2 Kn2
Y s 2
s s 2n s n ss n 2
2
Kn Kn
Y s
K

s s n s n 2

yt K 1 e t / tet /
14
Overdamped Example ( > 1)
UGM
Equation
1 d 2 y t 2 dy t
y t Kut
n dt
2 2
n dt
> 1, zero initial condition

Kn2 Kn2
s Y s 2 n sY s Y s K
1
Y s 2

2 2 2
n n
s 2

s s 2n s n ss s1 s s2
y t
K
1 2

1 2 e t / 1 1e t / 2
1 n n 2 1 2 n n 2 1
1 1
1 2
1 2
15
Parameter of SOS
UGM
Three parameters strongly influence the response of 2nd-

order systems:
natural frequency n
damping ratio
gain K
Damping ratio indicates whether a 2nd-order system is
oscillatory ( < 1) or non-oscillatory (1).
16
SOS
UGM
The envelope of exponential decay of oscillation in

underdamped 2nd-order transient response is
governed by n.
1/n is the time constant of the decay.
5/n (or 4/n ) is the settling time.
and n of a 2nd-order system often can be estimated

by comparing its step (or initial condition) response

to figures of normalized responses.
17
SOS
UGM
and n of underdamped systems can be estimated

using the log-decrement technique.
Decay of overdamped 2nd-order transient response is
governed by two time constants.
Decay of highly overdamped 2nd-order transient
response is governed by the longer of the two time

constants.
18
UGM
DR
b
x
tp
exp
Characterizing a second-order response

1 2
2
1 2
19
2
1

06 2second Order

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06 2second Order

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2nd Order System

Department of Engineering Physics, Faculty of Engineering, Gadjah Mada University

2nd-order system models are commonly used and

Normal form qi1

the verge of having

Free response no forcing function

yt e 0.2t cos0.98t 0.204 sin 0.98t

d is the damped natural frequency

Response decays exponentially with time constant e

d < n (0 < < 1)

Zero initial condition

= 1, zero initial condition

> 1, zero initial condition

Three parameters strongly influence the response of 2nd-

oscillatory ( < 1) or non-oscillatory (1).

The envelope of exponential decay of oscillation in

and n of a 2nd-order system often can be estimated

by comparing its step (or initial condition) response

and n of underdamped systems can be estimated

response is governed by the longer of the two time

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