Chapter 4

Instructor: Lec Amal Haider

 Now we shall describe the general
characteristics of 2nd Order System transient
response just as Tc, Tr, Ts described for 1st
Order System
 Two specification of 2nd Order System are:
▪ Natural Frequency ωn
▪ Damping Ratio ζ
 Natural Frequency ωn
▪ Natural frequency of 2nd Order system is the
frequency of system without damping.
▪ Radial distance from origin to pole of a system is
also termed as natural frequency
 Damping Ratio ζ
▪ It compares exponential decay frequency of the
envelop to the natural frequency
 Now we revise our description of 2nd order
system to reflect new definitions
 General second order system is given below
and it is transformed into new parameters as
 Natural Frequency ωn
▪ Natural frequency of 2nd Order system is the
frequency of system without damping.

▪ Damping Ratio ζ
▪ For Under damped system, complex poles
having real part say σ = (-a/2)
 Now after transformation the generalized
second order system transfer function is
given by
 Example 4.3: Given 2nd Order transfer function
calculate ωn & ζ
 Put denominator of G(s) = 0 and solve
quadratic equation we get

 Now we determine different behavior of

transient response for various numerical
values of ζ
 Example 4.4: For each of the system find the
value of ζ report the kind of response
expected ?
 We have generalized 2nd order system in
terms of ωn & ζ . Now we shall analyze step
response of an under damped 2nd Order
system
 Objective is to find transient specifications
associated with under damped response such
as Rise Time Tr , Peak Time Tp , % OS &
Settling Time Ts etc.
 Plot for various values of ζ plotted against
time axis normalized to natural frequency is
shown
 Predict relationship between the value of ζ &
type of response obtained
 Lower the value of ζ more oscillation is the
response
 ωn is the time axis scale factor and does not
affect the nature of response
 Besides ,we define four other parameters
associated with under damped response
▪ Rise Time, Tr
▪ Peak Time, Tp
▪ Percent Overshoot , % OS
▪ Settling Time , Ts
 Rise Time Tr : It is the time required by the
waveform to go from 0.1 of the final value to
0.9 of final value
 Peak Time Tp : Time required by waveform to
reach first or maximum peak
 Percent Overshoot % OS : The amount the
waveform overshoots the steady state or
final value at the peak time expressed as
percentage of steady state value.
 Settling Time Ts : Time required for transient
damped oscillation to reach and stay within
±2% of the steady state value

 These time constants yields information

about speed of transient response
 It help designer to determine if speed and
nature of response do or do not degrade
performance of system (Elevator Example)
 By replacing value of peak time Tp in
equation (4.28) i.e. C(t) is replaced by C(Tp)
we get Cmax
 For unit step, Cfinal =1
 By replacing value of Cmax in %OS equation
we get equation (4.38)

 Since %OS is a function of ζ , so we can

express ζ in terms of %OS as eq (4.39)
 Time for which C(t) in eq (4.28) reaches and
stay within ±2% of steady state value, Cfinal
 Time it take for amplitude of the decaying
sinusoid in eq (4.28) to reach 0.02
 So by comparing real part we get
 A precise analytical relationship between Tr &
ζ cannot be found
 By computer simulation of eq (4.28) Tr can be
found
 Example 4.5: For a given transfer function
find Tp, %OS, Ts & Tr?