Time response of First order and

Second order system

Time response of First order system with unit step input

T = time constant of the system

C (t )  ?

1
unit step input R( S ) 
S
 Applying inverse laplace transformation

Time response

 1
Steady state output C ( t )t   1  e  1   1
e

C ( )  1
Error is the difference between input and output

When time approaches infinity, the error is, steady state error

steady state error

 When time t = T

Time constant (T) of first order system is defined as the time taken by the system
output to reach 63.2% of the steady state value.
Time response of First order system with unit step input
T =RC= time constant of the system
Time response of Second order system with unit step input

R(S) C(S)
2
n

+ S ( S  2 n )
-
 when  0

C(S)  n2
 2
R( S ) S   n2

1
unit step input R( S ) 
S

1  n2
C(S)   2
S ( S   n2 )

1 S
C(S)   2
S ( S   n2 )
 C(S)  n2
 2
R( S ) S  2 n S   n2

1
unit step input R( S ) 
S

1  n2
C(S)   2
S S  2 n S   n2
e   n t
C (t )  1  sin(  d t   )
1  2
 A BS  C
C(S)   2
S S  2 n S   n2

Apply partial fraction

A  1, B   S , C  2 n

1 S  2 n
C(S)   2
S S  2 n S   n2

Add and subtract  2 n2 to the denominator

1 S  2 n
C(S)   2
S S  2 n S   n2   2 n2   2 n2
 1 S  2 n
C(S)  
S ( S   n ) 2   n2   2 n2

1 S  2 n
C(S)  
S ( S   n ) 2   n2 (1   2 )

where  d2   n2 (1   2 )

1 S  2 n
C(S)  
S ( S   n ) 2   d2

1 S   n  n
C(S)   
S ( S   n )   d ( S   n ) 2   d2
2 2
Multiply and divide the 3rd term by d

1 S   n  n d
C(S)    
S ( S   n ) 2   d2 ( S   n ) 2   d2  d

 n t  n  n t
C (t )  1  e cos  d t  e sin  d t
d

 n
C ( t )  1  e  n t [cos  d t  sin  d t ]
d

 n t  n
C (t )  1  e [cos  d t  sin  d t ]
 n 1  2
   n t 
C (t )  1  e [cos  d t  sin  d t ]
1  2

e   n t
C (t )  1  [ 1  2 cos  d t   sin  d t ]
1  2

sin   1   2 cos   

e   n t
C (t )  1  [sin  cos  d t  cos  sin  d t ]
1  2
 e   n t
C (t )  1  sin( d t   )
1  2

Output or time response of underdamped second order system has

exponentially damped sinusoidal oscillations.