ME 360 Control Systems Second-Order System Step Response

The transfer function for a second-order system can be written in one of the two general forms (depending on whether the system has a zero or not) Case 1: G ( s ) =

K 2 s + bs + c

Case 2: G ( s ) =

K (s + a) . s 2 + bs + c

Each of these cases can be broken into different types of response depending on whether the poles of the system are real and unequal, real and equal, complex, or purely imaginary. We consider only the response of stable systems in the discussion below. Stable systems are systems whose poles have non-positive real parts. K Case 1: There are four types of motion that are possible in this case. G ( s ) = 2 s + bs + c o If the poles are real and unequal, the response is over-damped with no overshoot. If the poles are widely separated, the response may be dominated by the smaller (slower) pole. o If the poles are real and equal, the response is critically damped with no overshoot. o If the poles are complex the system is under-damped with an overshoot. o If the poles are purely imaginary, then the system has no damping and the response will be oscillatory with no reduction in amplitude (harmonic). Fig. 1 shows the step response of a system with real, unequal poles, and Fig. 2 shows the step response of a system with complex poles.

G (s ) =

10 (s + 2 )(s + 5)

Fig. 1 Second Order, Case 1 Over-damped Step Response

1

G (s ) =

25
s 2 + 5s + 25

Fig. 2 Second Order, Case 1, Under-damped Step Response Fig. 3 shows the second-order system step response for various values of the damping factor (0.1, 0.25, 0.5, 0.75, 1.0, 2.0).
Step Response

1.8 1.6 1.4 1.2

= 0.1 = 0.25 = 0.5

= 0.75

Amplitude

1 0.8 0.6 0.4 0.2 0 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5

G (s ) =
= 1.0 = 2.0

2 n
2 s 2 + 2n s + n

n = 5 (r/s)

Time (sec.)

Fig. 3 Second Order, Case 1, Under-damped Step Responses

2

Case 2: G ( s ) =

K (s + a) s 2 + bs + c

o The motion of Case 2 systems is complicated somewhat over that of Case 1 systems by the presence of the zero ( s + a ) in the transfer function. The zero has little effect on the settling time of the system, but can significantly affect the overshoot. o How much effect the zero has on overshoot depends on where it is (along the real axis) compared to the poles of the system. o Zero is far to the left of the poles: it has little affect on the motion of the system. This makes the motion much like that of a Case 1 system. o Zero located near or inside the poles: it will significantly affect the overshoot of the system.

Zero may have little effect

Im X

Zero has measurable effect

Im
X

Re

n
X

a n
X

Re

Zero has substantial effect

Im
X

n
X

Re

Fig. 4 shows the step response of an over-damped, case 2, second order system. The presence of the zero causes significant overshoot. Fig. 5 shows the step response of an underdamped, case 2, second order system. Here, the zero increases the overshoot (over what you would expect if it was a Case 1 system). Note that the only difference between these systems and those Case 1 systems shown in Figs. 1 and 2 is the presence of the zero ( s + 1) in the transfer function.

G (s ) =

10(s + 1) (s + 2 )(s + 5)

Fig. 4 Second Order, Case 2 Over-damped Step Response

G (s ) =

25(s + 1)
s 2 + 5s + 25

Fig. 5 Second Order, Case 2 Under-damped Step Response

4