Swami Keshvanand Institute of Technology, Management & Gramothan,

Ramnagaria, Jagatpura, Jaipur-302017, INDIA

Approved by AICTE, Ministry of HRD, Government of India
Recognized by UGC under Section 2(f) of the UGC Act, 1956
Tel. : +91-0141- 5160400 Fax: +91-0141-2759555
E-mail: info@skit.ac.in Web: www.skit.ac.in

EXPERIMENT 7
OBJECT: Studying the time response analysis of second order system.
The second-order system is the lowest-order system capable of an oscillatory response to a step input.
Typical examples are the spring-mass-damper system and the electronic RLC circuit.
Time-domain function:

Laplace-domain transfer function:

The unit step response depends on the roots of the characteristic equation. If both roots are real-valued, the
second-order system behaves like a chain of two first-order systems, and the step response has two
exponential components. If the roots are complex, the step response is a harmonic oscillation with
exponentially decaying amplitude.
It has characteristic equation given by the denominator of the transfer function and has roots:

Time domain specifications of the second order system: The step response of the second order system
is described in the following figure.

Fig 7.1
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Here all the required time domain specifications are described in this image. The transient response is
called as the response to the settling time and the response after the settling time is known as steady state
response.
A) Delay Time: Delay time is known as the time requirement for the response to reach half of its final
value from the zero instant, represented by:

Now see the step response of the second order system for t ≥ 0, when ‘δ’ lies between zero and one.
Here the final value of the step response is one.
Therefore, at t=td, the value of the step response will be 0.5. Substitute,

If you use the linear approximation, you will get the delay time td as,
B) Rise time: Rise time is the time required for the response to rise from 0% to 100% of its final
value. Usually this is applicable for the under-damped systems. You can consider the duration
from 10% to 90% of the final value for the over-damped systems. Rise time is denoted by tr.

At t =t1= 0, c(t) = 0.

Here we that the final value of the step response is one.

Therefore, at t=t2, the value of step response is one.
Substitute, these values in the following equation.
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Now substitute t1and t2values in the following equation of rise time

A) Peak time: Peak time is the time required for the response to reach the peak value for the first
time. It is represented by tp. At t=tp, the first derivate of the response is zero.
B) We have an idea that the step response of second order system for under-damped case is,
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Differentiate c(t)with respect to ‘t’.

We can finalize the peak time tp and from the above equation that the damped frequency ωd are inversely
proportional to each other.
C) Peak Overshoot: Peak overshoot Mp is also called as the deviation of the response at peak time
from the final value of response. This is also *called as the maximum overshoot.
We can write it mathematically as

Where,

c(tp) is the peak value of the response.

c(∞) is the final (steady state) value of the response.
At t=tpt=tp, the response c(t) is
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will decrease if the damping ratio δ increases.

D) Settling time: The settling time ts is the time interval required by an output signal of a dynamical
system to get trapped inside a band around a new steady-state value after a perturbation is applied
to the system. It is the time required for the response to reach the steady state and stay within the
specified tolerance bands among the final value. In usually the tolerance bands are 2% and 5%.
Here the settling time is presented by ts.

The settling time for 5% tolerance band is

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 Both the settling time and the time constant T are inversely proportional to the damping ratio δ.
 Both the settling time and the time constant are independent of the system gain. That means even
the system gain changes, the settling time and time constant will never change.
Problem:
In this lab, the time responses of control systems will be studied using MATLAB. The time response of a
control system is usually divided into two parts: the transient response and the steady-state response. We
will study these responses for the second order systems. For simplicity, the "step input" will be used, though
other inputs can also be applied.

Exercise 1: Open loop control system example

Let us look at the following second order (open-loop) system whose transfer function is:
1 G(s)
R(s)= --- _______________
s | b | C(s)
-------------| ------------ |--------->
|s^2 + a.s + b |
---------------
Four typical cases are as follows:
(1) Overdamped
4
G(s) = ------------ (1)
s^2 + 5 s +4
The step response of system (1) is

(2) Underdamped
4
G(s) = ------------ (2)
s^2 + s +4
The step response of system (2) is
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(3) Undamped
4
G(s) = ------------ (3)
s^2 + 4
The step response of system (3) is

(4) Critically damped

4
G(s) = ------------ (4)
s^2 +4 s + 4
The step response of system (4) is
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For determining above plots in MATLAB, you can use the following code:
% Overdamped system
s = tf('s');
G = 4/(s^2+5*s+4)
step(G)
% Underdamped system
G = 4/(s^2+s+4)
step(G)
% % Undamped system
G = 4/(s^2+4)
step(G)
% % Critically damped system
G = 4/(s^2+4*s+4)
step(G)

Exercise 2: Closed loop control system example

Now let us try another system
Case 1:
4
G(s) = ------------- (5)
s^2 + s - 4
The system's step response is

The system's response diverges and blows up finally, which means the system is "unstable." An unstable
system is not desirable. What we want is that the system could behave smoothly and have its output follow
(track) our desired (reference) input. For this purpose, we use "feedback control". Let us feed the output of the
system G(s) back to the input position and compare it with our desired (reference) input to construct the
following closed-loop system
__ _______ ______
+ / \ | | | | output
ref input -->( )------>| K |----->| G(s) |---------> (6)
r(t)\__/ e(t) | | x(t) | | |y(t)
----- ------ |
- /|\ |
| |
|__________________________________|
The closed-loop transfer function of system (6) is calculated as
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4 K
Gc(s) = ------------------ (7)
s^2 + s + 4 (K-1)
From which we can plot the step response as follows:
 If K>1, the closed-loop system (7) is Asymptotically Stable.
 If K<1, the closed-loop system (7) is Unstable.
 If K=1, the closed-loop system (7) is Marginally Stable (Stable but not Asymptotically Stable).
Justify why it happens.

Case 2: Let K be 0.5, 1.0, 1.5 and 15 respectively, observe and plot the different step responses. Calculate
(theoretically) the steady error for the two cases of K=1.5 and K=15, check them against your figure and
compare them to see what conclusion you can draw.

Exercise 3: Closed loop control system example

Consider the following second order (open-loop) system whose transfer function is:
5
G(s) = ------------ (8)
s (s + 2)
The step response of system (8) is

This system is not asymptotically stable (can you tell why?). Therefore you could not observe a convergent
response. This means that we have a system which does not behave as we expected. Now let us use a
"feedback control" to regulate its behavior to our desired one. What is our expectation to its behavior or, more
precisely, its output? Yes, we wish its output to follow (track) our reference input, say, the step function.
Alright, let us use the following unit feedback strategy:
__ ______
+ / \ | | output
ref input -->( )----------->| G(s) |---------> (9)
r(t)\__/ e(t) | | |y(t)
------ |
- /|\ |
| |
|__________________________|
Now, perform the following
(a) Derive the closed-loop transfer function of system (9).
(b) Do simulation for step response. Calculate (theoretically) the damped natural frequency, peak time, percent
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overshoot, rise time and settling time and, mark them on your resultant simulation figure.

Determining the rise time, settling time and response time (‘stepinfo’ command):
S = stepinfo(sys)computes the step-response characteristics for a dynamic system model sys. The function
returns the characteristics in a structure containing the fields:

RiseTime — Time it takes for the response to rise from 10% to 90% of the steady-state response.
SettlingTime — Time it takes for the error |y(t) - yfinal| between the response y(t) and the steady-state
response yfinal to fall to within 2% of yfinal.
SettlingMin — Minimum value of y(t) once the response has risen.
SettlingMax — Maximum value of y(t) once the response has risen.
Overshoot — Percentage overshoot, relative to yfinal.
Undershoot — Percentage undershoot.
Peak — Peak absolute value of y(t)
PeakTime — Time at which the peak value occurs.

The following figure illustrates some of these quantities on a typical second-order response.

Observations:
Various analyses for studying the responses of second order systems are performed.