I UNIT Part -2

Second Order System

• Transfer function:
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Nature of Roots
Transient Response of Second Order System
• For zeta > 1, response is non-oscillatory and becomes more “sluggish”
as its value increases.
• For Zeta < 1, all curves are oscillatory in nature.
Terms Used to Describe an Underdamped
System

The underdamped response occurs most frequently in control systems.

• OVERSHOOT: It is a measure of how much the response exceeds the
ultimate value following a step change.
• The overshoot increases for decreasing zeta.
Terms Used to Describe an Underdamped
System

Decay Ratio:
Terms Used to Describe an Underdamped
System

Rise Time:
Terms Used to Describe an Underdamped
System

Response Time:
Terms Used to Describe an Underdamped
System

Period of Oscillation:
Terms Used to Describe an Underdamped
System

Natural Period of Oscillation:

If the dampening is eliminated, the system oscillates continuously
without attenuation in amplitude.
Under these conditions:
Characteristics of a step response of an Underdamped second order system.
Transportation Lag

• Often present in flow systems.

• Synonyms for this term are dead time and distance velocity lag.
• Consider a pipe in which a liquid is flowing.
• The temperature (x) of the entering fluid varies with time, and it is
desired to find the response of the outlet temperature y(t) in terms of a
transfer function.
Transportation Lag

• It is assumed that the system is initially at steady state; for this

system, it is obvious that the inlet temperature equals the outlet
temperature.
• Consider a pipe in which a liquid is flowing.
• The temperature (x) of the entering fluid varies with time, and it is
desired to find the response of the outlet temperature y(t) in terms of a
transfer function.
• If a step change were made in x(t) at t = 0, the change would not be
detected at the end of the tube until set later, where is the time
required for the entering fluid to pass through the tube.
Transportation Lag

• This simple step response is shown in below Fig.

• The transportation lag parameter is simply the time needed for a

particle of fluid to flow from the entrance of the pipe to the exit.
Transportation Lag

• It can be seen from the figure

• Y(t) = X(t- )
• After introducing deviation variable, and taking LaPlace transform we
get,

• The above equation represents transfer function of transportation lag.