General 2 Order System Response Derivation

General 2 order system Response
I. Un-Damped Response
𝑐(𝑡) = 𝐴𝑐𝑜𝑠(𝜔𝑛 𝑡 − 𝜙)
II. Overdamped Response
𝑐(𝑡) = 𝐾1 𝑒 − 𝛼1 𝑡 + 𝐾2 𝑒 − 𝛼2 𝑡
III. Underdamped Response
𝑐(𝑡) = 𝐴𝑒 − 𝛼𝑑 𝑡 cos(𝜔𝑑 − 𝜙)
IV. Critically damped Response
𝑐(𝑡) = 𝐾1 𝑒 − 𝛼1 𝑡 + 𝐾2 𝑡𝑒 − 𝛼1 𝑡
Step Response of Underdamped 2nd Order System
𝜁
𝑐(𝑡) = 1 − 𝑒 −𝜁𝜔𝑛 𝑡 (cos 𝜔𝑛 √1 − 𝜁 2 𝑡 + 𝑠𝑖𝑛𝜔𝑛 √1 − 𝜁 2 𝑡
√1 − 𝜁 2
Above equation can be simplified using trigonometric identities
1
𝑐(𝑡) = 1 − 𝑒 −𝜁𝜔𝑛 𝑡 cos(𝜔𝑛 √1 − 𝜁 2 𝑡 − 𝜙)
√1 − 𝜁 2
Second Order transient Response Derivation (Only Under Damped Response)
I. Rise Time 𝑇𝑅
It is the time required for the response to rise from 0% to 100% for underdamped response.
Consider the underdamped response

𝜁
√1 − 𝜁 2
Let t=𝑡𝑟 and 𝑐(𝑡) = 1, place in the above equation

𝜁
0 = 𝑒 −𝜁𝜔𝑛 𝑡𝑟 (cos 𝜔𝑛 √1 − 𝜁 2 𝑡𝑟 + 𝑠𝑖𝑛𝜔𝑛 √1 − 𝜁 2 𝑡𝑟
√1 − 𝜁 2
From the above equation, we know the exponential function is only zero if 𝑡 = ∞, which can not be the
value of rise time. Hence the only factor that is making above equation equal to zero are the cos and sin
function.
𝜁
0 = (cos 𝜔𝑛 √1 − 𝜁 2 𝑡𝑟 + 𝑠𝑖𝑛𝜔𝑛 √1 − 𝜁 2 𝑡𝑟 )
√1 − 𝜁2
Divide both side by cos 𝜔𝑛 √1 − 𝜁 2 𝑡𝑟

𝜁
0 = 1+ tan 𝜔𝑛 √1 − 𝜁 2 𝑡𝑟
√1 − 𝜁2
𝜔𝑑 = 𝜔𝑛 √1 − 𝜁 2
√1 − 𝜁 2
𝑡𝑎𝑛𝜔𝑑 𝑡𝑟 = −
𝜁
1 √1 − 𝜁 2
𝑡𝑟 = ∗ tan−1 (− )
𝜔𝑑 𝜁
Looking at the s plane. Roots of the under damped system are −𝜁𝜔𝑛 ± 𝜔𝑛 √1 − 𝜁 2 where −𝜁𝜔𝑛 lies on
the real axis while 𝜔𝑛 √1 − 𝜁 2 lies on the imaginary axis of the s-plane. Using right angle triangle
theorem tan x will be
𝜔𝑛 √1 − 𝜁 2 √1 − 𝜁 2
tan 𝛼 = =
𝜔𝑛 𝜁 𝜁
√1 − 𝜁 2
𝛼 = tan−1
𝜁
√1 − 𝜁 2
𝜋 − 𝛼 = tan−1 (− )
𝜁
𝜋−𝛼
𝑡𝑟 =
𝜔𝑑
II. Peak Time 𝑡𝑝
Peak time is the time required for the response to reach the first peak of overshoot
From calculus we know to calculate the maxima of any function by taking the derivative and at
maximum slope is zero
𝜁
√1 − 𝜁 2
Differentiating w.r.t to time

𝑑 −𝜁𝜔 𝑡 𝑑 𝜁
𝑐′(𝑡) = − (𝑒 𝑛 (cos 𝜔 √1 − 𝜁 2 𝑡) + ( 𝑠𝑖𝑛𝜔𝑛 √1 − 𝜁 2 𝑡)
𝑛
𝑑𝑡 𝑑𝑡 √1 − 𝜁 2
𝑑
Exercise for student solve the above equation using product rule 𝑑𝑥 𝑢𝑣 = 𝑢𝑣 ′ + 𝑣𝑢′
𝜁2
𝑐 ′ (𝑡) = 𝑒 −𝜁𝜔𝑛 𝑡 sin(𝜔𝑑 𝑡) [ 𝜔𝑛 + 𝜔𝑑 ]
√1 − 𝜁 2
For maxima slope is 0 when t=𝑡𝑝
𝜁2
0 = 𝑒 −𝜁𝜔𝑛 𝑡 sin(𝜔𝑑 𝑡) [ 𝜔𝑛 + 𝜔𝑑 ]
√1 − 𝜁 2
From above equation we know exponential function is only zero when t is infinite, so only sin term will
be zero
𝜁2
0 = sin(𝜔𝑑 𝑡) [ 𝜔𝑛 + 𝜔𝑑 ]
√1 − 𝜁 2
0 = sin(𝜔𝑑 𝑡)
Remember all trigonometric calculation are done in radian then sin−1 0 = 𝑛𝜋
Taking inverse sine
𝜔𝑑 𝑡𝑝 = 𝑛𝜋
Where n is the no. of peak in the oscillation, since we are focus with first peak then n= 1
𝜋
𝑡𝑝 =
𝜔𝑑
III. Settling Time 𝑇𝑠
It is the time required by the response curve to reach and stay within 2% about the final value
1
𝑐(𝑡) = 1 − 𝑒 −𝜁𝜔𝑛 𝑡 cos(𝜔𝑛 √1 − 𝜁 2 𝑡 − 𝜙)
√1 − 𝜁2
We know from the 1st order system, it takes 4 time constant to reach 98% of the final steady state value.
This is only valid for exponential decay function only. Therefore 𝑡𝑠 = 4Τ
1
𝜏=
𝜁𝜔𝑛
4
𝑡𝑠 =
𝜁𝜔𝑛
IV. Overshoot percentage 𝑀𝑝 %

General 2 Order System Response Derivation

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General 2 Order System Response Derivation

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General 2 order system Response

Step Response of Underdamped 2nd Order System

Second Order transient Response Derivation (Only Under Damped Response)

Consider the underdamped response

Let t=𝑡𝑟 and 𝑐(𝑡) = 1, place in the above equation

Divide both side by cos 𝜔𝑛 √1 − 𝜁 2 𝑡𝑟

Differentiating w.r.t to time

For maxima slope is 0 when t=𝑡𝑝

Taking inverse sine

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