Lecture 4

TIME DOMAIN ANALYSIS

(Second order system)

IDL 1
 Analysis and Design Objectives

Three major objectives

1. Producing the desired transient response
2. Reducing steady-state error
3. Achieving stability
 General second-order system

OR
 where _ b  n2 _ and _ a  2 n

n  natural _ frequency _ of _ oscillation

  damping _ ratio
 General second order system poles

2
C ( s) 
 2 2
n
R( s ) s  2n s  n
ax 2  bx  c  0
x  (b  b 2  4ac ) / 2a

Poles : s 2  2 n s  n2  0

2
s1, 2   n  jn 1 
s1, 2   n  jd
 Pole location on s-place with  _ and _ n
  cos 
1
  cos  S1

S2
 2
C ( s) 
G ( s)   2 n
2
R ( s ) s  2n s  n
For step input :
n2
C (s)  2 2
s ( s  2n s  n )
 2
( s  n )  n 1  
2
1 1 
C (s)   2 2 2
s ( s  n )  n (1   )
 Second-order step response


c(t )  1  e  n t
 2
cos n ( 1   )t 
2
sin n ( 1   2 )t 
1 
1
c(t )  1  e  nt cos(n ( 1   2 )t   )
1  2

1 
where _   tan ( )
2
1 
Second-order step response components generated by
complex poles
Second-order underdamped responses for
different damping ratio values
Depends on zeta !

Second-order systems, pole plots, and step responses
Second-order systems, pole plots, and step responses

9
G ( s) 
( s  7.854)( s  1.146)
Second-order systems, pole plots, and step responses
Pole location and its response
 with constant real part

with constant imaginary part

with constant damping ratio

 Exercise

Find _  _ and _ n and locate the system poles

36
G(s)  2
n
s  4.2s  36
Sketch the step response using Matlab for the
systems below :
 Exercise

For the systems above, find :

a) the system poles
b) the damping ration, ζ
c) the undamped natural frequency of oscillation, wn
d) determine whether the system is underdamped, critically
damped or overdamped.
Second-order step response
performance criteria
 Parameters associated with the underdamped response are rise time, peak time,
percentage overshoot, and settling time. These specifications are defined as
follows:

1. Rise Time ( Tr ) : The time required for the waveform to go from

0.1 of the final value to 0.9 of the final value.
2. Peak Time ( Tp ) : The time required to reach the first, or
maximum, peak.
3. Percentage Overshoot, ( %OS ). The amount that the waveform
overshoots the steady state, or final, value at the peak time,
expressed as a percentage of the steady-state value.
4. Settling time, ( Ts ). The time required for the transient’s
damped oscillation to reach and stay within ±2% of the steady-
state value.
• Peak Time, Tp – The time required to reach the first peak, Cmax.



Tp  
n 1   2 d
• Percentage overshoot, %OS – The amount that the signal
overshoots the final value. It is expressed in % of steady state
value.
• %OS = (Cmax. – Cfinal)/Cfinal x 100 %

( 1 2 )
%OS  e x100

 ln(%OS / 100)

 2  ln 2 (%OS / 100)
• Settling Time, Ts – The time required to reach and
stay within 2% of the steady state value
4
Ts 
n
• Rise Time, Tr – The time required to go from 10% to
90% of the final value

Not a simple calculation ! but we can use table below

to get Tr for a given natural freq. Wn and damping
ratio, zeta.

2.16  0.60
Tr  _ for _ 0.3    0.8
n
 Other specifications :

Max. magnitude on CL with zeta =< 0.7 :

1
Mp 
2 1   2

This occurs at freq. :

2
 p  n 1  
Overshoot Magnitude :
2
 / 1
M p  1 e
Resonance Frequency :

2
r  n 1  2
 Percent
overshoot vs.
damping ratio
Normalized rise time vs. damping ratio for a
second-order underdamped response
 Exercise
• 1. Given the transfer function below, find Tp, % OS, Ts and
Tr.
– G(s) = 100/s2 + 15s + 100

1
• 2. If G ( s)  J
D K
s2  s
J J

• find J and D to yeild 20% overshoot and a settling time of 2

seconds.
 Exercise
For the following transfer functions :

400
1 _ G( s)  2
s  12 s  400
900
2 _ G (s)  2
s  90 s  900
225
3 _ G( s)  2
s  30s  225
625
4 _ G (s)  2
s  625
Calculate :

a)The damping ratio, wn, Tp, Ts, Tr and %

overshoot

b)Comment on the damping nature of the

systems

c) Use Matlab programmes to varify your

answers.
Exercise 7 :

Find :
1. the transfer function of the network where the voltage
across the capacitor is as an output
2. the damping ratio, % overshoot and settling time. Estimate
also the rise time of the system.
Is the system overdamped ?