Lecture : 9

Control Systems Engineering

Dr. G. Balamurugan
Assistant Professor
Department of Electronics Engineering
MIT Campus, Anna University.

Dr. G. Balamurugan
1
Department of Electronics Engineering, MIT Campus
UNIT II TIME RESPONSE ANALYSIS
Time response analysis - First Order Systems - Impulse and
Step Response analysis of second order systems - Steady
state errors – P, PI, PD and PID Compensation, Analysis
using MATLAB

Dr. G. Balamurugan
2
Department of Electronics Engineering, MIT Campus
 Second Order System
• A system with two poles are called 2nd order system.

• Example: An RLC circuit or mass- spring-damper system.

• In general, the TF of a second order system can be written as

• To study and understand the response of a second order system, its TF is

written in terms of certain system parameters

Dr. G. Balamurugan
3
Department of Electronics Engineering, MIT Campus
Second Order System

Dr. G. Balamurugan
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Department of Electronics Engineering, MIT Campus
 Second Order System

Standard form of Transfer Function:

Dr. G. Balamurugan
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Department of Electronics Engineering, MIT Campus
 Important System Parameters
• Damping ratio : A dimensionless quantity describing the decay of oscillations
during a transient response.

• Natural frequency: Angular frequency at which the system tends to oscillate

in the absence of damping force.

• Damped frequency: Angular frequency at which the system tends to oscillate

in the presence of damping force.

Dr. G. Balamurugan
6
Department of Electronics Engineering, MIT Campus
 Response of a Second Order System
• Response of second order systems mainly depends on the damping ratio.

• For any test input, the response of a second order system can be studied in
four cases depending on the damping effect created by value of

1. Overdamped (ζ >1) : When the system has two real distinct poles.
2. Underdamped (0 <ζ <1) : When the system has two complex conjugate poles
3. Undamped (ζ = 0) : When the system has two imaginary poles.
4. Critically damped (ζ = 1): When the system has two real but equal poles.
Simulation Link

Note: We do not consider negative damping ratio because negative

damping actually means the oscillations are increasing in amplitude
which results in unstable systems.
Dr. G. Balamurugan
7
Department of Electronics Engineering, MIT Campus
Types of Damping

Dr. G. Balamurugan
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Department of Electronics Engineering, MIT Campus
Second Order System

Dr. G. Balamurugan
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Department of Electronics Engineering, MIT Campus
 A. Unit impulse Response : Second Order
System
• Case (i) : (ζ = 0) Un damped Systems

Assume =1
t y(t)
0 0
/2 1
 0
3/2 -1
2 0
5/2 1

Dr. G. Balamurugan
10
Department of Electronics Engineering, MIT Campus
 A. Unit impulse Response : Second Order
System
• Case (ii) : (ζ = 1) Critically damped Systems

Assume =1
t y(t)
0 0
0.5 0.3
1 0.36
1.5 0.33
2 0.27
2.5 0.2
3 0.14
4 0.07
Dr. G. Balamurugan
11
Department of Electronics Engineering, MIT Campus
 B. Unit Step Response : Second Order
System
• Case (i) : (ζ = 0) Un damped Systems

Assume =1
t y(t)
0 0
/2 1
 2
3/2 1
2 0
5/2 1

Dr. G. Balamurugan
12
Department of Electronics Engineering, MIT Campus
 B. Unit Step Response : Second Order
System
• Case (ii) : (ζ = 1) Critically damped Systems

Assume =1
t y(t)
0 0
0.5 0.09
1 0.26
1.5 0.44
2 0.59
2.5 0.71
3 0.8
4 0.9
Dr. G. Balamurugan
13
Department of Electronics Engineering, MIT Campus
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Dr. G. Balamurugan
14
Department of Electronics Engineering, MIT Campus