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    Analysis of Second Order Systems

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    Chamod Dissanayake
    This document discusses the analysis of second-order systems. It defines the standard form of a second-order system and explains that the order of a system is determined by the denominator. The damping ratio ζ determines the type of system: undamped (ζ=0), underdamped (0<ζ<1), critically damped (ζ=1), overdamped (ζ>1), or unstable (ζ<0). For each case, the document derives the poles and describes the step response. It concludes by assigning

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    Analysis of Second Order Systems

    Uploaded by

    Chamod Dissanayake
    29 views13 pages
    This document discusses the analysis of second-order systems. It defines the standard form of a second-order system and explains that the order of a system is determined by the denominator. The damping ratio ζ determines the type of system: undamped (ζ=0), underdamped (0<ζ<1), critically damped (ζ=1), overdamped (ζ>1), or unstable (ζ<0). For each case, the document derives the poles and describes the step response. It concludes by assigning

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    This document discusses the analysis of second-order systems. It defines the standard form of a second-order system and explains that the order of a system is determined by the denominator. The damping ratio ζ determines the type of system: undamped (ζ=0), underdamped (0<ζ<1), critically damped (ζ=1), overdamped (ζ>1), or unstable (ζ<0). For each case, the document derives the poles and describes the step response. It concludes by assigning

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    29 views13 pages

    Analysis of Second Order Systems

    Uploaded by

    Chamod Dissanayake
    This document discusses the analysis of second-order systems. It defines the standard form of a second-order system and explains that the order of a system is determined by the denominator. The damping ratio ζ determines the type of system: undamped (ζ=0), underdamped (0<ζ<1), critically damped (ζ=1), overdamped (ζ>1), or unstable (ζ<0). For each case, the document derives the poles and describes the step response. It concludes by assigning

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
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    Analysis of Second Order Systems

    The order of a system is the order of the denominator of the


    system.

    The knowledge on analysis of second order systems are


    important since it provides the base for analysing high order
    systems.

    Note that, normally, the practical systems are high order


    system, i.e. the order is higher than two.

    The standard form of a second order system is given by

    𝝎𝒏 𝟐
    𝑮(𝒔) = 𝟐
    𝒔 + 𝟐𝜻𝝎𝒏 𝒔 + 𝝎𝒏 𝟐
    Analysis of Second Order Systems
    The standard form of a second order system is given by
    𝝎𝒏 𝟐
    𝑮(𝒔) = 𝟐
    𝒔 + 𝟐𝜻𝝎𝒏 𝒔 + 𝝎𝒏 𝟐

    𝜔𝑛 − Undamped natural frequency (𝜔𝑛 > 0)


    𝜁 − Damping ratio

    The poles of the system:


    𝑠 2 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛2 = 0

    −2𝜁𝜔𝑛 ± 2𝜁𝜔𝑛 2 − 4𝜔𝑛2


    𝑠1,2 =
    2

    𝑠1,2 = −𝜁𝜔𝑛 ± 𝜔𝑛 𝜁2 − 1
    Analysis of step response of the second order system

    The standard form of a second order system is given by


    𝝎𝒏 𝟐
    𝑮(𝒔) = 𝟐
    𝒔 + 𝟐𝜻𝝎𝒏 𝒔 + 𝝎𝒏 𝟐

    The Laplace transform of the step response can be found as follows:

    𝑌 𝑠 𝜔𝑛2
    𝐺 𝑠 = = 2
    𝑅 𝑠 𝑠 + 2𝜁𝜔𝑛𝑠 + 𝜔𝑛2

    1
    Since R(𝑠) = 𝑠

    1 𝜔𝑛2
    𝑌 𝑠 =
    𝑠 𝑠 2 + 2𝜁𝜔𝑛𝑠 + 𝜔𝑛 2
    Analysis of unit step response of the second order system

    There are five situations depend on 𝜁.

    1. 𝛇 = 0 (Undamped System)
    2. 𝟎 < 𝛇 < 1 (Underdamped System)
    3. 𝛇 = 1 (Critically damped System)
    4. 𝛇 > 1 (Overdamped System)
    5. 𝛇 < 𝟎 (Unstable System)
    Unit step response of the second order system as a function of 𝜻 )

    𝐖𝐡𝐞𝐧 𝛇 = 0, Undamped System


    𝑠1,2 = −𝜁𝜔𝑛 ± 𝜔𝑛 𝜁 2 − 1 𝑠1,2 = ± 𝑗𝜔𝑛

    1 𝜔𝑛 2
    𝑌 𝑠 = 𝜔𝑛 is called Undamped Natural
    𝑠 𝑠 2 + 𝜔𝑛 2
    Frequency.
    𝑦 𝑡 = 1 − cos 𝜔𝑛 𝑡
    Poles Step response

    y(t)
    Unit step response of the second order system as a function of 𝜻

    𝐖𝐡𝐞𝐧 𝟎 < 𝛇 < 1, Underdamped System

    𝑠1,2 = −𝜁𝜔𝑛 ± 𝑗𝜔𝑛 1 − 𝜁 2


    𝑠1,2 = −𝜁𝜔𝑛 ± 𝜔𝑛 𝜁2 − 1

    1 𝜔𝑛 2
    𝑌 𝑠 =
    𝑠 𝑠 2 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛 2

    −𝜁𝜔𝑛 𝑡
    𝜁
    𝑦 𝑡 =1−𝑒 𝑐𝑜𝑠 𝜔𝑛 1 − 𝜁2 𝑡 + 𝑠𝑖𝑛 𝜔𝑛 1 − 𝜁 2 𝑡
    1 − 𝜁2
    Poles Step response

    y(t)
    Unit step response of the second order system as a function of 𝜻

    𝐖𝐡𝐞𝐧 𝟎 < 𝛇 < 1, Underdamped System

    𝑠1,2 = −𝜁𝜔𝑛 ± 𝑗𝜔𝑛 1 − 𝜁 2


    𝑠1,2 = −𝜁𝜔𝑛 ± 𝜔𝑛 𝜁2 − 1

    −𝜁𝜔𝑛 𝑡
    𝜁
    𝑦 𝑡 =1−𝑒 𝑐𝑜𝑠 𝜔𝑛 1 − 𝜁2 𝑡 + 𝑠𝑖𝑛 𝜔𝑛 1 − 𝜁 2 𝑡
    1 − 𝜁2

    𝜔𝑑 is called Damped Natural


    𝜔𝑑 = 𝜔𝑛 1 − 𝜁 2
    Frequency. Note 𝜔𝑑 < 𝜔𝑛 .
    Poles Step response
    y(t)
    Unit step response of the second order system as a function of 𝜻

    𝐖𝐡𝐞𝐧 𝛇 = 1, Critically damped System

    𝑠1,2 = −𝜁𝜔𝑛 ± 𝜔𝑛 𝜁 2 − 1 𝑠1,2 = −𝜔𝑛

    𝑌 𝑠 𝜔𝑛 2
    𝐺 𝑠 = = 2
    𝑅 𝑠 𝑠 + 𝜔𝑛
    Step response:
    1 𝜔𝑛 2
    𝑌𝑠 =
    𝑠 𝑠 + 𝜔𝑛 2 _
    𝑦 𝑡 = 1 − 𝑒 −𝜔𝑛 𝑡 1 + 𝜔𝑛 𝑡

    Poles Step response

    y(t)

    _
    Unit step response of the second order system as a function of 𝜻

    𝐖𝐡𝐞𝐧 𝛇 > 1, Overdamped System

    𝑠1,2 = −𝜁𝜔𝑛 ± 𝜔𝑛 𝜁 2 − 1 (Negative real and unequal)


    𝑌 𝑠
    𝐺 𝑠 = =
    𝑅 𝑠

    𝑌 𝑠 =

    𝑦 𝑡 =
    Unit step response of the second order system as a function of 𝜻

    𝐖𝐡𝐞𝐧 𝛇 > 1, Overdamped System

    𝑠1,2 = −𝜁𝜔𝑛 ± 𝜔𝑛 𝜁 2 − 1

    𝑦 𝑡 =

    Poles Step response

    y(t)
    Unit step response of the second order system as a function of 𝜻

    • Same analysis can be done when ζ < 0.

    𝑠1,2 = −𝜁𝜔𝑛 ± 𝜔𝑛 𝜁 2 − 1

    • Then, −ζ𝜔𝑛 > 0, therefore, two poles are in RHP.


    The step response is unbounded.
    y(t)

    Unit step response curves of the second order system with the
    variation of 𝜻
    Homework
    Derive unit impulse responses of the second order system considering the previously
    discussed five conditions for the damping ratio.

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