Dr.

Venugopal P
Associate Professor Senior
Steady state output=
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 steady state error

Time response of Second order system with unit step
input
R(S) C(S)
 2
n

+ S ( S  2 n )
-
Example
2. Underdamped
 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
 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   t
C ( t ) 1  e cos  d t  e sin  d t
n

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.

Important Remarks
 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)  
S ( S 2   n2 )
Time response of Under damped Second order system with
unit step input
Time response specifications
 We have defined two parameters associated with second-order systems,
damping ratio and natural undamped frequency.

 Other parameters associated with the underdamped response are rise time,
peak time, percent overshoot, and settling time. These specifications are
defined as follows
Time response specifications


 tr 
d
 cos  1 
Time response specifications



1  2
C ( t p ) 1  e
 .
C ( t p )  C ( ) 
1  2
Mp  e
C ( )
Time response specifications
Rise time, tr : It is the time required for the response to rise from 0 to
100% of the final value for the underdamped system.

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

 sin(d tr   ) 0 sin 


 tr   cos  1 
d
 
  n
d
e 
C ( t p ) 1  sin( d  )
1  2 d



1  2
e
C ( t p ) 1  sin(   )
1  2



1  2
e
C ( t p ) 1  sin 
1  2
 

1  2
e
C ( t p ) 1  sin 
sin 



1  2
e
C ( t p ) 1  sin 
sin 



1  2
C ( t p ) 1  e

 .
C ( t p )  C ( ) 
1  2
Mp  e
C ( )
Example:
Ans:
K1= 0.736 and K2=0.94
Solve for ξ
Home Work