Chapter 2 (page#119)

Continuous-Time
System Responses
2.3 Response of Second-Order Systems
2.5 Stability Testing
2.4 Higher- Order System Response

System Response

First-order system time response
transient
dc steady-state

Second-order system time response

transient
dc steady-state

Ist & IInd order systems if stable:
the forced response is the steady-state
response
and the natural response is the transient
response

For unstable responses, "steady-state" and
"transient" are meaningless
2.3 (p 126) RESPONSE OF SECOND-ORDER SYSTEMS
) . .....(
a s a s
b
) s ( R
) s ( C
) s ( G 17 4
0 1
2
0
+ +
= =
The Standard form of the second-order transfer function is given by:
) . .....(
s s
) s ( R
) s ( C
) s ( G
n n
n
18 4
2
2 2
2
e + ,e +
e
= =
,, the damping ratio, will determine how much the system
oscillates as the response decays toward steady state.

e
n
, the undamped natural frequency (natural frequency) , will
determine how fast the system oscillates during any transient
response.

Note: All system chracteristics of the 2
nd
-order system are
functions of only , and e
n
.
2 2
2
2
n n
n
s s
) s ( R
) s ( C
) s ( G
e + ,e +
e
= =
) unity is dcgain (
) ( R
) ( C
) ( G 1
0
0
0 = =
G(0): DC gain of the system, will determine the size of steady
state response when the input settles out to a constant value.
We will also consider 2
nd
-order systems with other than unity
gain and with numerator other than a constant.
2.3 (p 126) RESPONSE OF SECOND-ORDER SYSTEMS..cont
Unit-step response for standard Second-0rder system
) s ( R ) s ( G ) s ( C =
R(s) C(s)
2 2
2
2
n n
n
s s e + ,e +
e
s
s s
) s ( C
n n
n
1
2
2 2
2
e + ,e +
e
=
s
) s ( G ) s ( C
1
=
) t sin( e ) t ( c
n
t
n
u + |e
|
=
,e
1
1
Assume poles of G(s) are complex, taking inverse LLT
2
1 , = |
|
.
|

\
|
,
|
= u
1
tan
n
) ( constatnt Time
,e
= t
1
n
s
) T ( me SettlingTi
,e
= t =
4
4
usoide sin
damped of frequency
n
= |e
Step response R(s) = A/s
= 1/s unit step response
G(s)
2.3 (p 126) RESPONSE OF SECOND-ORDER SYSTEMS..cont

Three cases:
Overdamped case: >1, two real
distinct poles
Underdamped case: <1, a pair of
complex conjugate poles
Critically damped case: =1, two
repeated real poles, or one real pole of
multiplicity two, or two poles at same
location
4 cases to be considered
Case 1: Distinct real roots
t s t s
e c e c t x
s s
2
2
1
1
2 1
) ( + =
=
Case 2: Equal roots & real
st st
te c e c t x
s s s
2 1
2 1
) ( + =
= =
Case 3: Imaginary roots
t k t k t x
e c e c t x
j s
t j t j
e e
e
e e
cos sin ) (
) (
2 1
2 1
+ =
+ =
=

Case 4: Complex conjugate roots

| | t k t k e t x
j s
t
e e
e o
o
cos sin ) (
2 1
+ =
=

,>1
Distinct
real roots
Time
constant (t)
Forcing
Function
, and e
n
Forcing
Function
,=1
,<1
,=0
Equal
roots & real
Imaginary
roots
Complex
conjugate
roots
Over
Damped
Critically
Damped
Under
Damped
Un-Damped
X
X
X X
X
X
X
X
s
s s
) s ( C
n n
n
1
2
2 2
2
e + ,e +
e
=
s
s
/ K
) s ( C
1
1
|
.
|

\
|
t
+
t
=
2
2 1
1 , ,e = j s
n ,
,>1
,=1
,<1
,=0
, and e
n
2 1
2 1
2 1
1
t t
+ + =
=
/ t / t
e k e k ) t ( c
s s
2 1
2 1
2 1
1
t t
+ + =
= =
/ t / t
te k e k ) t ( c
s s s
) t sin( e ) t ( c
j s
n
t
n
n
u + |e
|
=
e o =
,e
1
1
3
4
Step Response
t
) 1 (
A
) 2 (
) ( c
r
t
p
t
s
t
r
t
d
t
p
M overshoot
Exponential decay generated by real
part of the complex pole pair
Exponential decay
generated by real
part of the complex
pole pair (o=,e
n
)

Sinusoidal oscillation
generated by imaginary
part of the complex pole
pair
C(t)
t
) t sin( e ) t ( c
n
t
n
u + |e
|
=
,e
1
1
-o=-,e
n
,e
n
je
d
-je
d
S-Plan
t
) 1 (
A
) 2 (
) ( c
r
t
p
t
s
t
r
t
d
t
p
M overshoot
400 12
400
2
+ +
=
s s
) s ( G ) a (
Problem
900 90
900
2
+ +
=
s s
) s ( G ) b (
225 30
225
2
+ +
=
s s
) s ( G ) c (
625
625
2
+
=
s
) s ( G ) d (
t . t .
Ce Be A ) t ( c
46 11 54 78
+ + =
2 1
t t
+ + =
/ t / t
te C Be A ) t ( c
) t cos( e B A ) t ( c
n
t
n
| + |e + =
,e
) t cos( B A ) t ( c | + + = 25
) t . cos( e B A ) t ( c
t
| + + =

08 19
6
2 1
t t
+ + =
/ t / t
Ce Be A ) t ( c
t t
te C Be A ) t ( c
15 15
+ + =
2
1 , = |
2 2
2
2
n n
n
s s
) s ( G
e + ,e +
e
=
1. The impulse response of any system does give an indication of the nature of
the initial-condition (IC) response, and thus the transient response, of the system.
3. An Initial condition excitation of a Higher-order system cannot be modeled as
simply as that of the first-order system.
2. An Initial condition on a first-order system can be modeled as an impulse
function input
4. The unit-impulse response of the II-order system is given by the equation:
) . ( response impulse ..... t sin e ) t ( c
n
t
n
n
25 4 |e
|
e
=
,e
|
|
.
|

\
|
e + ,e +
e
=
2
2
2 2
n
n
n s
) t ( c

-1
) . ( response step Unit )..... t sin( e ) t ( c
n
t
n
20 4
1
1 u + |e
|
=
,e
Equation 4.25 is the derivative of equation 4.20
5. The impulse response of the second order system can also be considered to
be the response to certain initial conditions, with r(t)=0
Note:-
Third-order systems (Higher Order System)

Consider one real pole plus a pair of
complex conjugate poles

Complex poles dominant (close to
origin), real pole non-dominant

or

Real pole dominant, complex poles
non-dominant
Complex poles dominant:
approximate as secon-dorder
system
Real pole dominant:
approximate as first-order system
All three poles dominant:
approximation difficult
Complex conjugate poles
Dominant:
zero tends to minimize
effect of nearby real pole
Real pole dominant,
zeros tend to minimize
effects of nearby poles
Unstable due to rhp pole,
nearby zero is not useful
in canceling pole
Lhp zero will amplify overshoot
Stable system, rhp zero can
give response that starts in
opposite direction from the
steady-state resp
X
S = -a
0
Pole =1/t=-a
0
Characteristics
Equation
X
S = -a
0
Pole =1/t=-a
0
X
S = -a
0
Pole =1/t=-a
0