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Analysis of Transient response

Textbook Chapter 4 | Page 161 | week 5|

|Second-order systems
A simple sign of second-order systems is that, it contains a second
derivative term in its transfer function. A typical system can be
modeled using Mass-Spring-Damper system.

x(t)

M f(t)

fv

Figure 6: A Mass-Spring-Damper diagram for typical shock

absorbers.

Using Newton 2nd law, the model can be represented in a form of

differential equations.
dx 2 (t) dx(t)
f(t) = M + fv + Kx(t) (3.0)
dt dt

Performing Laplace transform of f(t) yields,

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ℒ{f(t)} → F(s) = M s2 X(s) + fv sX(s) + K X(s) (3.1)

Simplifying (3.1) we get,

F(s) = (Ms2 + fvs + K)X(s) (3.2)

The transfer function that relates the output X(s) to the input force
F(s) is given by (3.3),

X(s) 1
= (3.3)
F(s) Ms2 + fv s + K

Applying a step input F(s)=1/s to (3.3) yields (3.4),

1 1
X(s) = . 2 (3.4)
s Ms + fv s + K

Transfer function block diagram from (3.4),

F(s) =1/s 1
X(s)
M𝑠 2 + fv s + K

Based on (3.4), regardless the values of M, fv and K, the

denominator of X(s) will have three roots, in which, s can be real
numbers or/and complex conjugates in the form of (3.5).

1
X(s) = (3.5)
s(s + a)(s + b)

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A standard form of second-order systems is shown in (3.6),

X(s) ωn2
= G(s) = 2 (3.6)
F(s) s + 2ξωns + ωn2

For a system to be stable, the value of damping ratio must be

greater than zero (𝜉 > 0), however typically value is (0 ≤ 𝜉 ≤ 1).

Basically, having known the value of M, fv and K values, 𝜉 can be

determined. Lets do some examples.

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| Types of second-order system

Let M=1, fv=2 and K=4 and substitute into (3.3) and equalize with
(3.6),
1 ωn2
G(s) = 2 =
s + 2s + 4 s2 + 2ξωns + ωn2

2𝜉𝜔𝑛= 2 hence, 𝜉= 0.5,

1 22
G(s) = . 2
4 s + 2(0.5)(2)s + 22

 The system with 0 < 𝜉 < 1 is called underdamped system.

If fv = 4 and M=1 and K=4,

1 ωn2
G(s) = =
s2 + 4s + 4 s2 + 2ξωns + ωn2

2𝜉𝜔𝑛= 4 hence, 𝜉= 1,

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1 22
G(s) = . 2
4 s + 2(1)(2)s + 22

 The system with 𝜉 = 1 is called overdamped system.

If fv = 0 and M=1 and K=4,

1 ωn2
G(s) = 2 =
s + 0s + 4 s2 + 2ξωns + ωn2

2𝜉𝜔𝑛= 0 hence, 𝜉= 0,

1 22
G(s) = . 2
4 s + 2(0)(2)s + 22

 The system with 𝜉 = 1 is called undamped system.

For such system with second order system, one could determine the
rise time Tr, Overshoot (percentage) OS%, peak time Tp and
settling time applying a step input to the system.

1 ωn2
C(s) = . 2
𝑠 s + 2ξωns + ωn2

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Using Quadratic Root Factoring,

−2ξωn ± √22 ξ2 ωn2 − 22 𝜔𝑛 2

𝑠= (3. 7)
2

−2ξω𝑛 ± 2ω𝑛 √ξ − 1
𝑠= (3.8)
2

𝑠 = −ξω𝑛 ± ω𝑛 √(1 − ξ2 ) ( 3.9)

Multiply term ω𝑛 √(ξ2 − 1) with √−1 , Notes

−ζωn
𝑠 = −ξω𝑛 ± jω𝑛 √(1 − ξ2 ) (3.10) −cos 𝜃 =
ωn
hence,
Plot the root of s on the s-plane,
cos θ = ζ

The damping ratio ζ is equal to cos θ

jω
* calculated only for either side of the
complex conjugate.
+jω𝑛 √(1 − ξ2 )
ω𝑛

θ
σ
−ξω𝑛

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Notes

Peak time (Tp) mesuares from t=0 until the first highest peak. Tp is
only applicable for underdamped system with overshoot response.
π
Tp = (3.11 )
ωn √1−ζ2

Settling time (Ts) mesuares from t=0 until the response reach 98%
of its final value.

4
𝑇𝑠 = 𝜁𝜔 ( 3.12)
𝑛

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Percentage Overshoot (%OS) measures how far the magnitude at
peak to the final value in terms of percentage.

2)
%OS = e−(ζπ/√1−ζ ( 3.13)

Damping ratio, 𝜁 is a dimensionless measure describing how

oscillations in a system decay after a disturbance.

−ln(%OS/100)
ζ= ( 3.14)
√π2 + ln2 (%OS/100)

Example 6 | second-order system (overdamped)

Lets substitute f(t)=1u(t), M=1, fv =3 and K=2 into (3.3),

1 1
X(s) = =
𝑠(𝑠 2 + 3𝑠 + 2) s(s + 1)(s + 2)

This yields real roots in the denominator so, adapting (3.6), we get, Notes

1 A B C System stability,
X(s) = = + +  3 roots on the left-hand-plane (3
𝑠(𝑠 2 + 3𝑠 + 2) s s+1 s+2
real roots),hence the system is
stable.
Solving this, we get,
 this system is overdamped,
1/2 (−1) 1/2
X(s) = + + Verify with 𝜁 knowing that 𝜔𝑛 = √2
s s+1 s+2
Simplifying X(s), 2𝜁𝜔𝑛 = 3
2𝜁√2 = 3
3
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𝜁 = 1.06
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1/2 1/2 1
X(s) = + −
s s+2 s+1

Then, transforming back X(s) into x(t) using inverse Laplace we

get,

1 1 −2𝑡
ℒ −1 {X(s)} → f(t) = + 𝑒 − 𝑒 −1𝑡
2 2

Notes
Example 7 | second-order system (critically damped)
System stability,
Lets substitute f(t)=1 u(t), M=1, fv =2 and K=1 into (3.3),  3 roots on the left-hand-plane (1
1 1 real root and 2 real-repeated roots),
X(s) = =
𝑠(𝑠 2 + 2𝑠 + 1) 𝑠(s + 1)2 hence, the system is stable.
 this system is critically damped.
This yields real & repeated roots in the denominator so adapting
(3.7),

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1 A B C
X(s) = = + +
𝑠(𝑠 2 + 2𝑠 + 1) s s + 1 (s + 1)2

Solving this, we get A= and B=-1 And C=-3/2, substituting these

values yields,

1 1 (−1) (−3/2)
𝑋(𝑠) = 2
= + +
𝑠(s + 1) 𝑠 𝑠 + 1 (𝑠 + 1)2

1 1 3/2
𝑋(𝑠) = − −
𝑠 𝑠 + 1 (𝑠 + 1)2

Then, transforming back X(s) into x(t) using inverse Laplace we

get,

3
ℒ −1 {X(s)} → x(t) = 1 − 𝑒 −1𝑡 − 𝑡𝑒 −1𝑡
2

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Example 8 | second-order system (under damped)
Notes
Lets substitute f(t)=1 u(t), M=1, fv =1 and K=1 into (3.3),
1 System stability,
X(s) =
s(s2 + 1s + 1)  3 roots on the left-hand-plane (1
real root and 2 complex roots).
This yields complex roots in the denominator so, adapting (3.8), we hence, the system is stable.
get,  this system is underdamped.

1 A Bs + C
X(s) = = + 2
s(s2 + 1s + 1) s s + 1s + 1

Solving this, we get A=1 and B = -1 And C = -1, substituting these

values yields,

1 1 (−1)s + (−1)
X(s) = = + 2
s(s 2 + 1s + 1) s s + 1s + 1

1 (s + 1)
X(s) = − 2
s s + 1s + 1

1 (s + 1)
X(s) = −
s (s2 + 1s + 1) + 3
4 4

Formatting into this form prior to inverse Laplace,

A(s + a) + Bω2
e−at cos ωt + e−at sin ωt =
(s + a)2 + ω2

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2
Notes
1 2 3
1 (𝑠 + 2) + 3 √4
𝑋(𝑠) = − 2
𝑠 1 3
(𝑠 + 2)2 + √4
Then, transforming back X(s) into x(t) using inverse Laplace we
get,

1 3 2 1 3
ℒ −1 {X(s)} → x(t) = 𝑥(𝑡) = 1 − 𝑒 −2𝑡 𝑐𝑜𝑠√ 𝑡 − 𝑒 −2𝑡 sin √ 𝑡
4 3 4

Meaning that, the output response x(t) is only reach 1 or it steady

level when both components 𝑒 −1𝑡 cos 𝑤𝑡 and 𝑒 −1𝑡 sin 𝑤𝑡 become zero
as t increases. It is observed that, due to sinusoid functions, the
response may have an oscillation before it reach the stable position.

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Example 9 | second-order system (un-damped)
Notes
Lets substitute f(t)=1 u(t), M=1, fv =0 and K=1 into (3.3),
1 System stability,
X(s) =
s(s2 + 1)  1 real root on the LHP, 2 roots on
the ±jωt axis. hence, the system is
This yields complex roots in the denominator so, adapting (3.8), we marginally stable.
get,  this system is undamped.

1 A Bs + C
X(s) = = + 2
s(s2 + 1) s s +1

Solving this, we get A=1 and B=-1 And C=0, substituting these
values yields,

1 1 (−1)s + (0)
X(s) = = +
s(s 2 + 1) s s2 + 1

Formatting into this form prior to inverse Laplace,

s
sin ωtu(t) =
𝑠2 + ω2
we get,

1 s
X(s) = − 2
s s + 12

Then, transforming back X(s) into x(t) using inverse Laplace we

get,

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ℒ −1 {X(s)} → x(t) = x(t) = 1 − sin ωt u(t)

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Test 1_Q2 (2017)

Measurements conducted on a servomechanism shows the response

to be C(t)=1+0.2e-60t -1.2e-10t ,when subjected to unit step input.

a) obtain the expression for closed loop transfer function, (2

marks)
b) the damping ratio (2 marks)
c) undamped natural frequency of oscillations. (1 marks)

[Ans: a) 600/s(s2+70s+600), b) 1.42, c) 3.63 rad/s]

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References
Notes
|Partial-fraction expansion method.
3 cases are typically used to solve 2nd order systems.

1. For the case of distinct real root in the denominator, use (0.1)
Equalizes the denominator for both
sides
1 A B C
X(s) = = + +
s(s + a)(s + b) s s + a s + b 1 = A(s+a)(s+b) + Bs(s+b) + Cs(s+a)

Obtain A by leting s--> 0

2. For the case of repeated real roots in the denominator, use (0.2)
Obtain B by letting s- .> -a
Obtain C by letting s--> -b
1 A B C
X(s) = 2
= + +
s(s + a) s s + a (s + a)2
1 = A(s+a)(s+a) + Bs(s+a) + Cs

3. For the case of complex roots in the denominator, use (0.3). Obtain A by leting s--> 0
Obtain C by letting s- .> -a
Obtain B by equalizing both sides.
1 A Bs + C
X(s) = = +
s(Ms 2 + fv s + K) s Ms2 + fv s + K

AFH2017 ver1.0 17 1 = A(Ms2+fvs+K)+ Bs2+Cs --

>expand and factor
2 2
1=AMs +Afvs+AK +Bs +Cs
1=(AM+B)s2+(Afv+C)s+AK
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