Lecture Notes on Control Systems/D.

Ghose/2012 57

10.7 Performance of Second-Order System (Unit Step

Response)

Consider the second order system

a2 ÿ + a1 ẏ + a0 y = b0 r
So,
Y (s) b0
=
R(s) a2 s + a1 s + a0
2

ωn2
= K 2
s + 2ζωn s + ωn2
where,
a0 b0 a1
ωn2 = , K= , ζ= √
a2 a0 2 a0 a2
1
Apply a unit step input r(t) = u(t) = s

Then,
ωn2
Y (s) = K
s (s2 + 2ζωn s + ωn2 )
This can be written as,
k1 k2 s + k3
Y (s) = + 2
s s + 2ζωn s + ωn2
Let us find the values of k1 , k2 , and k3 by equating the coefficients of the numerator
polynomials.

ωn2 (k1 + k2 )s2 + (2ζωn k1 + k3 )s + ωn2 k1

Y (s) = K =
s(s2 + 2ζωn s + ωn2 ) s(s2 + 2ζωn s + ωn2 )
Comparing the coefficients,
k1 + k2 = 0
2ζωn k1 + k3 = 0
ωn2 k1 = Kωn2
which can be solved to yield
k1 = K
k2 = −K
k3 = −2ζωn K
Lecture Notes on Control Systems/D. Ghose/2012 58

Then,
 
1 s + 2ζωn
Y (s) = K −
s s + 2ζωn s + ωn2
2
 
1 s + 2ζωn
= K −
s s2 + 2ζωn s + ζ 2 ωn2 − ζ 2 ωn2 + ωn2
 
1 s + 2ζωn
= K −
s (s + ζωn )2 + ωn2 (1 − ζ 2 )
 
1 s + ζωn ζωn
= K − −
s (s + ζωn )2 + ωn2 (1 − ζ 2 ) (s + ζωn )2 + ωn2 (1 − ζ 2 )
   √ 
1 s + ζωn ζωn ωn 1 − ζ 2
= K − − √
s (s + ζωn )2 + ωn2 (1 − ζ 2 ) ωn 1 − ζ 2 (s + ζωn )2 + ωn2 (1 − ζ 2 )
   √ 
1 s + ζωn ζ ωn 1 − ζ 2
= K − − √
s (s + ζωn )2 + ωn2 (1 − ζ 2 ) 1 − ζ 2 (s + ζωn )2 + ωn2 (1 − ζ 2 )

Taking inverse Laplace transforms (assuming 0 < ζ < 1, i.e., an underdamped system),
   
−ζωn t ζ −ζωn t
y(t) = K 1 − e cos ωn 1−ζ t−
2 √ e sin ωn 1 − ζ 2 t
1 − ζ2
    
1 −ζωn t
= K 1− √ e 1 − ζ cos ωn 1 − ζ t + ζ sin ωn 1 − ζ t
2 2 2
1 − ζ2
√
Let 1 − ζ 2 = cos φ and ζ = sin φ, then
    
1 −ζωn t
y(t) = K 1 − √ e cos φ cos ω n 1 − ζ 2 t + sin φ sin ω
n 1 − ζ2 t
1 − ζ2
  
1 −ζωn t
= K 1− √ e cos(ωn 1 − ζ 2 t − φ)
1 − ζ2
 
1 −ζωn t
= K 1− √ e cos(ωd t − φ)
1 − ζ2

Let us normalize y(t) by defining,

y(t)
ȳ(t) =
K
so that ȳ(t) → 1 as t → ∞.
Then, the step response of the underdamped system is,

1
ȳ(t) = 1 − √ e−ζωn t cos(ωd t − φ)
1−ζ 2
Lecture Notes on Control Systems/D. Ghose/2012 59

Figure 10.11: Unit step response and location of the poles of a second order system

Rise Time (Tr1 ): This is the same as in the first order system and is the time for y(t)
to go from 0.1 to 0.9 of the final value y(∞).
Rise Time (Tr2 ): This is defined for second-order underdamped systems. This is the
time for y(t) to go from 0 to 1 of the final value y(∞).
Settling Time (Ts ): This is the same as in first order system and is defined as the time
after which y(t) remains within 2% (or 5%) of the final value y(∞).
Maximum Overshoot (Mp ): This is the maximum overshoot value of y(t) over the final
value y(∞) and is usually expressed as a percentage.
Peak Time (Tp ): Time at which the maximum overshoot occurs.
For second-order underdamped system, these quantities can be related to ωn and τ in
an approximate sense.
Settling Time (Ts ): The envelope of ȳ(t) from below is governed by the equation,

1
ȳe (t) = 1 − √ e−ζωn t
1−ζ 2

So, if we take the 2% criterion for settling time,

1
ȳe (Ts ) = 1 − √ e−ζωn Ts = 0.98
1 − ζ2
Lecture Notes on Control Systems/D. Ghose/2012 60

1
⇒√ e−ζωn Ts = 0.02
1−ζ 2

−ζωn Ts
⇒e = 0.02 1 − ζ 2


⇒ −ζωn Ts = ln 0.02 1 − ζ2
 √ 
ln 0.02 1 − ζ 2
⇒ Ts = −
ζωn
For 0 ≤ ζ ≤ 0.9


3.9 ≤ − ln 0.02 1 − ζ 2 ≤ 4.7

So. approximately, we can say that,

4 ∼
Ts ∼
= = 4τ
ζωn
So, mainly Ts depends on ζωn = 1/τ
Design Rule 1: To decrease Ts → Increase ζωn → decrease τ
Peak Time (Tp ): The time at which ȳ(t) reaches its peak, the slope is zero.


−ζωn t ζ
ȳ(t) = 1 − e cos ωd t + √ sin ωd t
1 − ζ2
So,

−ζωn t ζ
ȳ˙ (t) = ζωn e cos ωd t + √ sin ωd t
1 − ζ2

−ζωn t ζωd
−e −ωd sin ωd t + √ cos ωd t
1 − ζ2
ζ2 
−ζωn t
= √ ωn e sin ω d t + ω n 1 − ζ 2 e−ζωn t sin ωd t
1 − ζ2
  
−ζωn t ζ
= ωn e sin ωd t √ + 1−ζ 2
1 − ζ2
1
= ωn e−ζωn t sin ωd t √
1 − ζ2
ω
= √ n 2 e−ζωn t sin ωd t
1−ζ
Slope is zero implies that ȳ˙ (t) = 0, which happens when,

sin ωd t = 0 ⇒ ωd t = nπ, n = 0, ±1, ±2, . . .

nπ
⇒ t= , n = 0, ±1, ±2, . . .
ωd
Lecture Notes on Control Systems/D. Ghose/2012 61

When does this happen for the first time after t = 0? When n = 1. So,
π π
Tp = = √
ωd ωn 1 − ζ 2

√
Design Rule 2: To decrease Tp → Increase ωd → Increase ωn 1 − ζ 2 .
Maximum Overshoot (Mp ): We have seen earlier,


−ζωn Tp ζ
ȳ(t) = 1 − e cos ωd Tp + √ sin ωd Tp
1 − ζ2

−ζωn Tp ζ
= 1−e cos π + √ sin π
1 − ζ2
= 1 + e−ζωn Tp
−ζωn √π
= 1+e ωn 1−ζ 2

−π √ ζ

= 1+e 1−ζ 2

= 1 + Mp

Where,
−π √ ζ

Mp = e 1−ζ 2

Figure 10.12: Maximum overshoot vs. damping factor

For, 0 ≤ ζ ≤ 0.6,
ζ
Mp ∼
=1−
0.6

Design Rule 3: Overshoot decreases with increasing ζ (almost linear decrease for lower
ranges of ζ). So,
To decrease Mp → Increase ζ.
Lecture Notes on Control Systems/D. Ghose/2012 62

Rise Time (Tr2 ): For underdamped system we use the 0% to 100% rise time criterion.
We will denote this as Tr for convenience.


−ζωn Tr ζ
ȳ(Tr ) = 1−e cos ωd Tr + √ sin ωd Tr = 1
1 − ζ2
ζ
⇒ cos ωd Tr + √ sin ωd Tr = 0
1 − ζ2
√
1 − ζ2
⇒ tan ωd Tr = −
ζ
√ 
1 −1 1 − ζ2
⇒ Tr = tan −
ωd ζ

Let,

cos φ = 1 − ζ2
sin φ = ζ
ζ
tan φ = √
1 − ζ2
  √
π 1 − ζ2
⇒ tan φ + =−
2 ζ
√ 
1−ζ 2 π π
⇒ tan−1 − = + φ = + sin−1 ζ
ζ 2 2
∼ π
= + ζ (for small ζ)
2

So, the rise time is,

√ 
1 −1 1 − ζ2
Tr = tan −
ωd ζ
 
1 π
= + sin−1 ζ
ωd 2
π/2 + sin−1 ζ
= √ (exact expression)
ωn 1 − ζ 2
∼ π/2 + ζ π + 2ζ ∼ π
= √ = √ = (for small ζ)
ωn 1 − ζ 2 2ωn 1 − ζ 2 2ωn

Design Rule 4: To decrease Tr → Increase ωn .

Actually Tr can also be decreased by decreasing ζ, but this causes larger overshoot.
Let us summarize all the above design rules in the following table.
Lecture Notes on Control Systems/D. Ghose/2012 63

Performance Exact Approximate Design

measure formula Formula rule

 √ 
− ln 0.02 1−ζ 2
4
Ts : Settling ζωn ζωn
To decrease Ts →
time Increase ζωn

Tp : Peak √π = π
ωd
— To decrease Tp →
1−ζ 2
ωn
√
time Increase ωd = ωn 1 − ζ 2

− √ πζ
Mp : Maximum e 1−ζ 2 1− ζ
0.6
To decrease Mp →
overshoot Increase ζ

 
Tr : Rise time √1 π
2
+ sin−1 ζ π
2ωn
To decrease Tr →
ωn 1−ζ 2
(0% to 100%) Increase ωn

Now, consider the s-plane interpretation of second order systems as given earlier.
Remember how we got these loci.

 1
p1,2 = −ζωn ± jωn 1 − ζ 2 = − ± jωd
τ
Lecture Notes on Control Systems/D. Ghose/2012 64

Figure 10.13: Constant parameter loci of poles

Lecture Notes on Control Systems/D. Ghose/2012 65

Figure 10.14: Regions in the s-plane

Lecture Notes on Control Systems/D. Ghose/2012 66

PROBLEM SET 4

1. Find the poles, zeros, time constant, bandwidth, natural frequency, damped fre-
quency, DC gain, damping ratio and whether the system is overdamped or under-
damped, settling time, rise time, peak time, and maximum overshoot (whichever
is relevant) of the following systems:

1 20
(a) G(s) = (b) G(s) =
s+3 s2 + 6s + 20
s+4 2
(c) G(s) = (d) G(s) =
s2 + 4s + 11 (s + 1)(s + 3)

2. For all the above systems determine if the final value theorem can be used to find
the steady state value of the time response under unit step input. If yes, then find
the final value.

3. For all the above systems, determine the equation for the time response to a unit
step input. What kind of response are these. Sketch qualitatively.

4. Consider the second order system

ωn2
G(s) = K
s2 + 2ζωn s + ωn2

(a) Suppose ωn = 10 and ζ varies between 0.1 and 2, draw the locus of the poles.
(b) Suppose ζ = 0.2 and ωn varies between 2 and 10, draw the locus of the poles.
(c) Assume that the system is underdamped and τ = 0.6, then sketch the locus
of the poles as both ζ and ω vary.
(d) Assume that the system is underdamped and ωd = 0.8 then sketch the locus
of the poles as both ζ and ω vary.

5. (MATLAB assignment)

(a) Plot the time response of the following systems, driven by step input signal.

K1 s + 2
G(s) = K
2s2 + K2 s + 2K3

Assume three different combinations of (K, K1 , K2 , K3 ). All of them should

be positive.
Lecture Notes on Control Systems/D. Ghose/2012 67

(b) Determine and plot the poles and zeros of the above system for the same
three combinations.
(c) Consider a combination of (K, K1 , K2 , K3 ) such that the resulting system is
underdamped and has all the poles on the left hand s-plane. Then, select
another such combination so that the system remains underdamped but has
better performance in terms of rise time, maximum overshoot, peak time, and
settling time. Plot both the time responses.