EE-354

CONTROL SYSTEMS
Lecture No 1 - Week No 8

“TIME RESPONSE”
Text Book: Chapter 4

Instructor: SIDRA NAWAZ

Class: 108 B
1

Electrical Engineering Department

Learning Outcome
After completing this lecture, you should be able to learn
• The general second-order system
• Natural frequency
• Damping ratio
• Response of the generalised 2nd order responses with ω and ζ
• Analyse the step response of an underdamped second-order
system
• Define transient specifications associated with underdamped
responses
• Rise Time Tr
• Peak Time TP
• Percent Overshoot, %OS
• Settling Time Ts
 The General Second-Order
System
• The two quantitative specifications that define the
characteristics of second-order system are :
• Natural Frequency, ωn: Frequency of oscillation of the
un-damped system.
• Damping Ratio ζ :
 Damping Ratio ζ :

• The 2nd order system can be

transformed to show with new quantities.

• Without damping, the poles would be on the jω axis,

and the response would be an un-damped sinusoid .
For the poles to be purely imaginary, a=0. Hence,
Damping Ratio ζ :
• By definition, the natural frequency, ωn is the
frequency of oscillation for this system
• Since the poles of this system are on the j ω axis at  j b

• What is the term a in the ?

• Assuming an underdamped system, the complex
poles have a real part σ, equal to –a/2
• The magnitude of this value is then the exponential
decay frequency, hence
Damping Ratio ζ :

• From which

• The general second order transfer function finally looks like

• Solving for poles

Example 4.3
Response of Second-Order
System as a function of ζ
Example 4.4
 Un-derdamped Second Order
System
• The step response of the general 2nd order system
can be found as

• Where it is assumed the ζ<1 (underdamped case)

• Expanding by partial fraction
Un-derdamped Second Order
System
• Taking the inv-laplace we get

• Where
 Un-derdamped Second Order
System

 The plot shows the relationship between the value of ζ and the
type of response obtained
 The lower the value of ζ , the more oscillatory is the response
Parameters Associated with 2nd
order system
• ζ and ω are two parameters already defined for a 2nd order
system
• Other parameters are
• Rise time Tr
Same definitions as in 1st order
• Settling Time Ts
• Peak Time TP
• Percent Overshoot, %OS
Parameters Associated with 2nd
order system
• Rise Time: The time required for the waveform to go from 0.1
to 0.9 of the final value
• Peak Time: The time required to reach the first, or maximum,
peak
• Percent Overshoot, %OS: The amount that the waveform
overshoots the steady-state, or final, value at the peak time,
expressed as percentage of the steady-state value
• Settling Time: The time required for the transient's damped
oscillations to reach and stay within ±2% of the steady-state
value
Parameters Associated with 2nd
order system
Evaluation of Rise Time
Example 4.5