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|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
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ℒ{f(t)} → F(s) = M s2 X(s) + fv sX(s) + K X(s) (3.1)
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
1 1
X(s) = . 2 (3.4)
s Ms + fv s + K
F(s) =1/s 1
X(s)
M𝑠 2 + fv s + K
1
X(s) = (3.5)
s(s + a)(s + b)
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X(s) ωn2
= G(s) = 2 (3.6)
F(s) s + 2ξωns + ωn2
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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
1 22
G(s) = . 2
4 s + 2(0.5)(2)s + 22
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
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
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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−2ξω𝑛 ± 2ω𝑛 √ξ − 1
𝑠= (3.8)
2
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)
−ln(%OS/100)
ζ= ( 3.14)
√π2 + ln2 (%OS/100)
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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2√2
𝜁 = 1.06
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1/2 1/2 1
X(s) = + −
s s+2 s+1
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
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
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
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
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
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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
s
sin ωtu(t) =
𝑠2 + ω2
we get,
1 s
X(s) = − 2
s s + 12
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ℒ −1 {X(s)} → x(t) = x(t) = 1 − sin ωt u(t)
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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)
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
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