Callueng, Jomhel B.

Pasicolan, Christian D.
SECOND ORDER SYSTEMS
In this activity, the response of a second-order system to a unit a unit-step forcing function is
studied. Specifically, the parameters including the process gain and damping function is varied.
Using MATLAB Simulink, the response of a second-order system is illustrated.

Using the transfer function of second-order system with unit-step forcing function:

Y s  
A Kp
s  s  2s  1
2 2

1. Constant Kp=1, τ=1 and varying ξ

Figure 1: Simulink simulation for second-order system at Constant Kp=1, τ=1 and varying ξ
 Figure 2: Response of second-order system at Constant Kp=1, τ=1 and varying ξ

The figure above shows the response of the second-order system. It can be observed that
for process gain, Kp=1, the systems response’s steady state is equal to one. It can be observed
that at damping factor equal to 1, the response of the system approaches the steady state at time
constant equal to 7. However, at damping function less than 1, the response of the system is
underdamped and oscillatory. It can be observed that before it reached the steady state, the
response oscillated. On the other hand, at higher values of damping function, the response of
the second-order system is lower however, by setting the damping factor greater than 1, the
response can be described as overdamped and non-oscillatory.
2. Constant Kp=2, τ=1 and varying ξ

Figure 3: Simulink simulation for second-order systems at constant Kp=2, τ=1 and varying ξ

Figure 4: Response of second-order system at constant Kp=2, τ=1 and varying ξ

3. Constant Kp=2, τ=1 and varying ξ

Figure 5: Simulink simulation for second-order systems at constant Kp=3, τ=1 and varying ξ

Figure 6: Response of second-order system at constant Kp=3, τ=1 and varying ξ

Generalization:

The responses of a second-order system on a forcing unit step function with varying values
of process gain Kp are shown in the figures above. It can be observed that by increasing the
value of Kp lead to the increasing steady state value of the system. At Kp=1, the steady state
of the system is equal to 1; steady state is equal to 2 at Kp=2; and steady state is equal to 3 at
Kp is equal to 3. It can be generalized therefore that the value of Kp dictates the value at which
the system will reached its steady state. In addition, it can also be said that by increasing the
value increased the amplitude of the response of the system. This is true because of the fact
that the system’s response will reach higher values of steady state.

In the case of varying the values of the damping factors, all the graphs exhibited the same
behavior. At damping factor ξ equal to 1, the response of the system allows the most rapid
approach to steady state gain without oscillation. This called the critical damping because the
nature of the roots or poles of the system’s transfer function are real and equal. On the other
hand, at ξ<1, the response can be described as underdamped and oscillatory. The value of
amplitude of the oscillation depend on the value of the process gain. Hence, the implication of
the oscillation before reaching the steady state can be accounted to the complex poles of the
transfer function. Lastly, at ξ>1, response of the system is non-oscillatory and becomes more
sluggish as ξ increases. This is known as overdamped response and as the same with the
previous cases, all curves eventually reached the steady state gain. It can be generalized
therefore that the damping factor dictates the nature of the curve before it reaches the steady
state gain of the system.
 FORCING FUNCTION: IMPULSE

1. Constant Kp=1, τ=1 and varying ξ

Figure 7: Simulink simulation for second-order systems at constant Kp=1, τ=1 and varying ξ

Figure 8: Response of second-order system at Constant Kp=1, τ=1 and varying ξ

2. Constant Kp=1, τ=1 and varying ξ

Figure 9: Simulink simulation for second-order systems at constant Kp=2, τ=1 and varying ξ

Figure 10: Response of second-order system at Constant Kp=2, τ=1 and varying ξ
3. Constant Kp=3, τ=1 and varying ξ

Figure 11: Simulink simulation for second-order systems at constant Kp=3, τ=1 and varying
ξ

Figure 12: Response of second-order system at Constant Kp=3, τ=1 and varying ξ
Generalization:
For the second-order system response to an impulse input, the process gain was varied at
Kp = 1, 2 and 3 and the time constant= 1. It can be observed on figures 8, 10 and 12, all the
response curves are oscillatory in nature. In addition, by increasing the value of process gain,
the amplitude of the curves increased before reaching the steady state gain. Generally, the same
behavior was observed by using an impulse forcing function with that of step as forcing
function. However it can be observed that all impulse response (steady state) returned to zero.

In the case of varying the values of the damping factors, all the graphs exhibited the same
behavior. At damping factor ξ equal to 1, the response of the system allows the most rapid
approach to steady state gain with little oscillation. This called the critical damping because the
nature of the roots or poles of the system’s transfer function are real and equal. On the other
hand, at ξ<1, the response can be described as oscillatory and the amplitude of the oscillation
increased by increasing Kp. Lastly, at ξ>1, response of the system is also oscillatory and
becomes more sluggish as ξ increases. This is known as overdamped response and as the same
with the previous cases, all curves eventually reached the steady state gain. It can be
generalized therefore that the damping factor dictates the nature of the curve before it reaches
the steady state gain of the system.
 FORCING FUNCTION: SINUSOIDAL FUNCTION

1. Constant Kp=1, τ=1 and varying ξ

Figure 13: Simulink simulation for second-order systems at constant Kp=1, τ=1 and varying
ξ

Figure 14: Response of second-order system at Constant Kp=1, τ=1 and varying ξ
2. Constant Kp=2, τ=1 and varying ξ

Figure 15: Simulink simulation for second-order systems at constant Kp=2, τ=1 and varying
ξ

Figure 16: Response of second-order system at Constant Kp=2, τ=1 and varying ξ
3. Constant Kp=3, τ=1 and varying ξ

Figure 17: Simulink simulation for second-order systems at constant Kp=3, τ=1 and varying
ξ

Figure 18: Response of second-order system at Constant Kp=3, τ=1 and varying ξ
Generalization:
For the second-order system response to a sinusoidal input, the process gain was varied at
Kp = 1, 2 and 3 and the time constant equal to 1. It can be observed on figures 14, 16 and 18,
all the response curves are oscillatory in nature. All the figures produced shows that all curves
are harmonic in nature. As the time progresses, it can be observed that all curves increases in
amplitude and moves away from its steady state. In addition, the amplitude of the response is
increasing as the process gain Kp increases.

In the case of varying the damping factor, all curves were oscillatory whether the value of
ξ is equal to one, less than one or greater than one. However, at increasing damping factor, the
amplitude of the response is also increasing.