Free Response of 2nd Order

Systems
Characteristic Equation:
s2 a1sa0 0

a1 1 2
systempoles: s1,2 a1 4a0
2 2
Free Response [ yFree(t)]: (u = 0)

Determined by the roots of the characteristic equation, i.e. poles

Real and Distinct [ s1 & s2 ]:
s1t
s2t

yFree(t) A1e

Real and Identical [ s1 = s2 ]:

s1t

yFree(t) A1e

A2e

s1t

A2te

Complex [ s1,2 = j ]

yFree(t) Me( j )t e t A1cos(t) A2sin(t) e t sin(t )

Dynamic Response - 2nd Order Time Response

Free Response of 2nd Order

Systems
Free Response (Two distinct real roots)
s t

s t

s t

yFree(t) A1e 1 A2e 2

s1 0 & s2 0
Img
.

s1

s t

s2

s1

(A1+A2)

Img
.

s2

s1

s2
Rea
l

Rea
l

yH (t)

s t

yFree(t) A1e 1 A2e 2

s1 0 & s2 0

Img
.

Rea
l

yH (t)

s t

yFree(t) A1e 1 A2e 2

s1 0 & s2 0

yH (t)

(A1+A2)

(A1+A2)
A2
Time
(t)

Time
(t)
Dynamic Response - 2nd Order Time Response

Time
(t)
2

Free Response of 2nd Order

Systems
Free Response (Two identical real roots)
s t

s t

yFree(t) A1e 1 A2te 2

s1 s2 0

s t

Img
.

s t

Img
.

s1=s2

s1=s2

Rea
l

Rea
l

Rea
l

yH (t)

A1

s t

yFree(t) A1e 1 A2te 2

s1 s2 0

Img
.

s1=s2

yH (t)

s t

yFree(t) A1e 1 A2te 2

s1 s2 0

yH (t)

A2
A1

A1

Time
(t)

Time
(t)
Dynamic Response - 2nd Order Time Response

Time
(t)
3

Free Response of 2nd Order

Systems
Free Response (Two complex roots)
yFree(t) Ae t sin(t )
s1,2 j & 0
Img
.

s1

s1

s2

yFree(t) Asin(t )
s1,2 j & 0

Rea
l

yF (t)

s2

Img
.

Img
.

Rea
l

yF (t)

yFree(t) Ae t sin(t )
s1,2 j & 0
s1
Rea
s l
2

yF (t)

A
A
Time
(t)

Time
(t)

Dynamic Response - 2nd Order Time Response

Time
(t)

Forced Response of Stable 2nd

Order System
Stable 2nd Order System

where n > 0 : Natural Frequency [rad/s]

> 0 : Damping Ratio
K : Static (Steady State, DC) Gain
Characteristic roots (poles)

s2 2n s n2 0 s n n (2 1)
> 1: two distinct real roots/poles

Img
.

s1,2 n n (2 1) over-damped
= 1: two identical real roots/poles

s1,2 n criticallydamped

Rea
l

< 1: two complex conjugate roots/poles

s1,2 n jn (1 2) n jd

-n

under-damped
Dynamic Response - 2nd Order Time Response

Forced Response of Stable 2nd

Order System

Unit step response of under-damped 2nd Order Systems (u(t)

= 1 and zero ICs)
2

Kn
Transfer function G(s) Y(s)
U(s) s2 2 s 2
n
n
( 1)
Characteristic
2
2
s2 2n s equation:

Systemspoles:
s

(1

) n jd
n
n
n
Unit step response:K 2
Ks2Kn
1 K
n

Y(s) G(s)U(s) 2
2 s
s s2 2 s 2
s 2ns n
n
n

K

s

K(s n)Kn

(s n)2 n 1 2

(s n)
K
K
s
(s )2
n

2
d

K

s

K(s n)K

1 2

1 2

(s n)2 d2

2 (s )2 2
1

n
d
Dynamic Response - 2nd Order Time Response

at

cos(t)

at

sin(t)

(s a)
2

(s a)

(s a)

2
6

Forced Response of Stable 2nd

Order System
Unit step response (continued):

(s n)
K
Y(s) K
s
(s )2
n

2
d

2 (s )2 2
1

n
d

nt

K Ke

nt

cos(d t) K
e

2
1

at

at

cos(t)
sin(t)

(s a)
2

(s a)

(s a)

sin(d t)

nt

K 1e
cos(d t)
sin(d t)

2
1

sin(A B) sinAcosB cosAsinB

1
t

y(t) K 1
e n sin dt
2

Dynamic Response - 2nd Order Time Response

where tan1

1 2

Forced Response of Stable 2nd

Order System

Unit Step Response of stable under-damped ( < 1) 2nd

Order Systems

2
1
1

y(t) K 1
e n sin dt where tan1
and d n 1 2

1.6K

Unit Step Response

1.4K
1.2K
K
0.8K
0.6K
0.4K
0.2K
0

7
8
9
Time [sec]

Dynamic Response - 2nd Order Time Response

10

11

12

13

14

15
8

Pole Location and Time Response

1
t

y(t) K 1
e n sin dt
2

where tan1

1 2
and d n 1 2

Im

Re

G(s)

Y(s)
U(s)

-n
Dynamic Response - 2nd Order Time Response

System Parameters
Mass-Spring-Damper System
x

f(t
)

M
B

I/O Model:

Q: What is the static (steady-state) gain of the system ?

Q: How would the physical parameters (M, B, K) affect the response of the system?
10

Dynamic Response - 2nd Order Time Response