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Case 1: 1 (overdamped)
then s1 and s2 are both real and negative.
Case 2: =1 (critical damping)
then s1 and s2 are equal.
Case 3: 0<<1 (underdamped)
then s1 and s2 are conjugate pair of
complex roots,
Case 4: =0 (undamped)
then s1 and s2 are both pure imaginary
roots.
Case 5: <0 (unstable) then s1 and s2 are
complex pair with positive real parts.
Solution to underdamped
with f(t)=Kp, x(0)=xo and dx/dt(0) = 0.
where x1* is the value of the first peak and x2* is the
value of the second peak overshooting beyond Kp.
3. Stability Conditions for Second Order Systems
Type
Algorithm
Features
u = ubias + Simple. Only one tuning
Proportional Control
kc e
parameter
u=
Proportional Integral ubias +kc [e
Removes offset. Can
Contol
+ (1/I)e decrease response times.
dt ]
Caution
Offset present
Can introduce low
damping coefficient.
u=
ubias+kc [ e
Proportional Integral + (1/ )e
Can reduce overshoot.
I
Derivative Contol
dt
+ D de/dt