1 Transient (Step) Response Specifications For Underdamped Second Order Systems

1
Transient (Step) Response Specifications for

Underdamped Second Order Systems
In these notes we are going to characterize the step response of an underdamped

second order system. Recall that the general form of a second order system is
given by equation 1. y(t) is the output and z(t) is the input.
a2 y + a1 y + a0 y = b0 z(t)
(1)
And as we know equation 1 is typically rewritten as equation 2.

y + 2n y + n2 y = Kss n2 z(t)
(2)
is the damping ratio, n is the undamped natural frequency, and Kss is the
steady state gain. The characteristic equation for a second order system is,
r2 + 2n r + n2 = 0
(3)
which has roots at,

r1 , r2 = n n
p
2 1
(4)
If < 1, the characteristic equation has complex roots and the system is underdamped. When the system is underdamped the roots of the characteristic
equation are sometimes written as,
r1 , r2 = d
(5)
p
where = n , d = n 1 2 , and = 1.
When the system is underdamped and the input is a step with magnitude
A,
z(t) = Au(t)
(6)
The solution to equation 2 is given by equation 71 .

t n
y(t) = Kss A 1 e
[sin (d t + )]
d
(7)
where,
= arccos()
1.1
(8)
Specifications
Figure 1 shows the step response of a typical underdamped second order system.
The step response of a second order system has several important measureable characteristics. In these notes we will define four of them: rise time (tr ),
peak time (tr ), settling time (tr ), and maximum percent overshoot Mp .
1 Note equation 7 may look slightly different than the step response given in the book or
the other notes I handed out, but it is equivalent. I just did the algebra different this time.
1.4
1.2
Amplitude
0.8
0.6
0.4
0.2
10
Time (sec)
Figure 1: Step response of a typical second order system
15
1.1.1
Rise Time
The rise time, tr , is usually specified as the time required for the output of the
system to rise from either 10% to 90%, 5% to 95%, or 0% to 100% of its final
value. Choosing the simplest case (0% to 100%) means that we just need to
find the time it takes for the response to reach its steady state value for the first
time. The steady state value is reached when,
sin (d tr + ) = 0
(9)
d tr + = 0, , 2, 3, etc.
(10)
so,
The first positive value occurs when
d tr + =
(11)
Solving yields,
tr0%100% =
(12)
With some more algebra we can find that the rise time from %10 to %90 is
approximated by,
tr10%90%
1.1.2
2.23 2 0.078 + 1.12

n
(13)
Peak Time
Peak time, tp , is the time required for the output of the system to reach its first
peak. It is found by setting the derivative of the output equal to zero. Upon
simplification equation 14 results.
tp =
1.1.3
(14)
Settling Time
Settling time, ts , is the time required for the output of the system to reach and
stay within a desired percentage of the final value. Typically 2% or 5% is used.
The settling time is given by equation 15
ts =
ln()
n
where is the tolerance for 2% = 0.02, for 5% = 0.05, etc.
(15)
1.1.4
Maximum Percent OverShoot
The maximum percent overshoot, Mp , is the peak value of the output of the
system divided by the final value of the output. Substituting tp into the output,
equation 7 and dividing by KA results in equation 16
Mp = e
1 2
(16)
1.2
Example 1: Determining the Step Response Characteristics of a Spring-Mass-Damper System
Consider a spring-mass-damper system with a mass [m = 2kg], a damper conN

stant [c = 8 Ns
m ], and a spring constant [k = 200 m ]. Determine the rise time,
peak time, settling time, and maximum percent overshoot for a step input.
To determine the step response characteristics of the system the transfer
function needs to be derived.
f (t) = m
x + cx + kx
(17)
F (s) = [ms2 + cs + k]X(s)
(18)
G(s) =
G(s) =
s2
X(s)
1
=
2
F (s)
[ms + cs + k]
1
m
c
ms
+
r
k
m
s2
Kn2
+ 2n + n2
k
rad
= 10
m
s
c
=
= 0.2
2 mk
p
d = n 1 2 = 9.80
n =
tr =
(20)
(21)
(22)
(23)
1
= 0.005
k
(24)
arccos()
=
= 0.181s
d
d
(25)
= 0.321s
d
(26)
K=
Rise Time
(19)
Peak Time
tp =
Settling Time
ts =
ln()
= 1.50s, 1.96s; for 5% and 2%, respectively.
n
(27)
Maximum Percent Overshoot

Mp = e
1 2
= 52.7%
(28)
Example 2: Specifying the Step Response Characteristics of a Spring-Mass-Damper System
Is it possible to tune c in the previous example to achieve a maximum percent

overshoot of under 10%, and a peak time of 0.5s?
Peak Time
tp =
p
p
d = n 1 2 =
1 2 =
d
tp
n tp
s
2

= 0.778
= 1
n tp
Overshoot
Mp = e
1 2
= 2.04%
(29)
(30)
(31)
So = 0.778 works,
p
Ns
c = 2 mk = 2(0.788) (10)(200) = 70.5
m
(32)
c
=
= 0.67
2 mk
(33)
With c = 70.5 Ns
m we just meet the requirement for tp , but we have room to
increase the overshoot so lets reduce the damping a bit and choose c = 60 Ns
m.
1 2
= 5.8%
tp =
= 0.42s
d
Mp = e
We meet both specs by a comfortable margin.
(34)
(35)

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1

Transient (Step) Response Specifications for

In these notes we are going to characterize the step response of an underdamped

And as we know equation 1 is typically rewritten as equation 2.

which has roots at,

Figure 1: Step response of a typical second order system

2.23 2 0.078 + 1.12

where is the tolerance for 2% = 0.02, for 5% = 0.05, etc.

Maximum Percent OverShoot

Example 1: Determining the Step Response Characteristics of a Spring-Mass-Damper System

Consider a spring-mass-damper system with a mass [m = 2kg], a damper conN

F (s) = [ms2 + cs + k]X(s)

Maximum Percent Overshoot

Example 2: Specifying the Step Response Characteristics of a Spring-Mass-Damper System

Is it possible to tune c in the previous example to achieve a maximum percent

We meet both specs by a comfortable margin.

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