Time Domain Analysis of First Order and

Second Order Control systems

 Introduction

• In time-domain analysis, the response of the dynamic system as an effect is expressed as

a function of time caused by an input.

• The time response can be determined if nature of the input and the mathematical
description of the system are known to us.

• For simulation purposes, the standard test signals are used although the exact information
of the exciting signals to the control systems are not known fully ahead of time.

• Finding a perfect mathematical model of a complex system is a difficult task.

For example, in a radar tracking system, the position and the speed of the target to be
tracked may vary in a random fashion. It is therefore difficult to express the actual input
signals mathematically by simple equations.
 Standard Test Signals
• The characteristics of actual input signals are a sudden shock, a sudden change, a
constant velocity, and constant acceleration.

• The dynamic behavior of a system is therefore judged and compared under application
of standard test signals – an impulse, a step, a sinusoidal signal, a constant velocity,
constant acceleration, etc.
• Impulse signal

• The impulse signal imitate the sudden shock characteristic of actual input signal.

• If A=1, the impulse signal is called unit impulse signal.

δ(t)

A t = 0 A
 (t ) = 
0 t  0

0 t

Source: English Wikipedia. Iain. Original image: [1]

 Standard Test Signals
• Step signal u(t)

▪ The step signal imitate the sudden change A

A t  0
characteristic of actual input signal. u (t ) = 
0 t  0
▪ If A=1, the step signal is called unit step signal 0 t

• Ramp signal r(t)

▪ The ramp signal imitate the constant velocity

 At t  0 Slope - A
characteristic of actual input signal. r (t ) = 
0 t  0
0 t
▪ If A=1, the ramp signal is called unit ramp
signal
p(t)
• Parabolic signal
 At 2
• The parabolic signal imitate the constant  t0
p(t ) =  2
acceleration characteristic of actual input signal. 0 t0
 t
0
• If A=1, the input signal is called unit parabolic
signal.
 Relation between standard Test Signals

• Impulse A t = 0
 (t ) = 
Laplace Transform of Signals
0 t  0 d L{ (t )} =  ( s ) = A
 dt
A t0
u (t ) =  A
• Step 0 t0 L{u(t )} = U ( s ) =
S
d
 dt
 At t0 A
r (t ) =  L{ r(t )} = R( s ) =
• Ramp 0 t0 s2
d
  At 2
 t0 dt L{ p(t )} = P( s ) =
2A
p(t ) =  2
0 S3
• Parabolic  t0
 Time Response of Control Systems
• Time response of a dynamic system is the response of the system to an excitation input.
It has two components
• Transient response: It is the response of the system from rest or equilibrium to steady
state.
• Steady-state response: It is the response of the system after the transient response.

u(t)

A
System
t
0

• The transient response is dependent upon the system poles only and not on the type of input
whereas the steady-state response depends on system dynamics and the input quantity.
• It is sufficient to analyze the transient response by using a step input whereas the steady
state response is examined by using final value theorem with consideration of different test
signals.
 Time Domain Analysis of 1st Order Systems

• The first order system has only one pole and can be represented as :

𝑪(𝒔) 𝑲
=
𝑹(𝒔) 𝑻𝒔 + 𝟏

Where K is the D.C gain and T is the time constant of the system.

• Time constant is a measure of how quickly a 1st order system responds to a unit step
input.

• D.C Gain of the system is ratio between the input signal and the steady state value of
output.

Example:
10
(i) G( s ) = D.C. gain is 10 and time constant is 3 seconds.
3s + 1

3 3/ 5
(ii) G ( s ) = G (s) = D.C. Gain of the system is 3/5 and time
s+5 1 / 5s + 1 constant is 1/5 seconds.
 Impulse Response of 1st Order System
• Consider the following 1st order system

δ(t) 𝑹(𝒔) K 𝑪(𝒔)

1
Ts + 1
0 t

𝑪(𝒔) 𝑲
• Transfer function =
𝑹(𝒔) 𝑻𝒔 + 𝟏

𝑲 For K=3 and T=2s

• Impulse response 𝑪(𝒔) = 𝐚𝐬, 𝐑(𝐬) = 𝛅(𝐬) = 𝟏 K/T*exp(-t/T)
𝑻𝒔 + 𝟏 1.5

• The time response is obtained by taking the inverse Laplace

1
transform

c(t)
𝑲/𝑻 𝑲 −𝒕/𝑻 0.5
𝒄(𝒕) = 𝑳−𝟏 𝑪(𝒔) = 𝑳−𝟏 𝒄(𝒕) = 𝒆
𝒔 + 𝟏/𝑻 𝑻

0
𝑨 0 2 4 6 8 10
𝑎𝑠, 𝑳−𝟏 = 𝑨𝒆−𝒂𝒕 Time
𝒔+𝒂
 Step Response of 1st Order System
• Consider the following 1st order system

K
R(s) Ts + 1 C(s )

C (s) K
• Transfer function =
R( s ) Ts + 1

K 1
• Step response C (s) = As, 𝑅(𝑠) =
s(Ts + 1) 𝑠

• The time response is obtained by taking the inverse Laplace transform

𝟏 𝑻
𝒄(𝒕) = 𝑳−𝟏 𝑪(𝒔) = 𝑳−𝟏 𝑲 − 𝒄(𝒕) = 𝑲 𝒖(𝒕) − 𝒆−𝒕/𝑻
𝒔 𝑻𝒔 + 𝟏

• Time response for unit step input 𝒄(𝒕) = 𝑲 𝟏 − 𝒆−𝒕/𝑻

 Step Response of 1st Order System
K
C (s) =
s(Ts + 1)

For K = 10 and T = 1.5 s

Forced Response Natural Response
K*(1-exp(-t/T))
11
𝑲 𝑲𝑻
𝑪 𝒔 = − 10
𝒔 𝑻𝒔 + 𝟏 Step Response
9

8 steady state output 10

D.C Gain = K = =
• By taking the inverse Laplace 7 Input 1
6
63%
transform
c(t) 5
𝟏 𝑻 4
𝒄(𝒕) = 𝑳−𝟏 𝑪(𝒔) = 𝑳−𝟏 𝑲 −
𝒔 𝑻𝒔 + 𝟏
3

2
• Time response for unit step input Unit Step Input
1

𝒄(𝒕) = 𝑲 𝟏 − 𝒆−𝒕/𝑻 0
0 1 2 3 4 5 6 7 8 9 10
Time
 Step Response of 1st order System

• System takes five time constants to reach its final value.

(
c(t ) = K 1 − e −t / T )
 Step Response of 1st Order System
• Time Response of the system 𝒄(𝒕) = 𝑲 𝟏 − 𝒆−𝒕/𝑻

For K=10 and T=1, 3, 5, 7 For K=1, 3, 5, 10 and T=1

K*(1-exp(-t/T)) K*(1-exp(-t/T))
11 11
10 10
T=1s K=10
9 9
8 T=3s 8
7 7
T=5s
6 6
c(t)

K=5

c(t)
5 T=7s 5
4 4
3 K=3
3
2 2
1 K=1
1
0 0
0 5 10 15 0 5 10 15
Time Time
 Relation Between Step and impulse response
• The step response of the first order system is

( )
c(t ) = K 1 − e −t / T = K − Ke −t / T

• Differentiating c(t) with respect to t yields

dc(t ) d
dt
=
dt
(
K − Ke −t / T )
dc(t ) K −t / T
= e (impulse response)
dt T

i.e. impulse response of first order system is equal to the time derivative of step response of the
first order system
Example
• Impulse response of a 1st order system is given below.
𝒄(𝒕) = 𝟑𝒆−𝟎.𝟓𝒕
• Find out
• Time constant T
• D.C. Gain K
• Transfer Function
• Step Response
Example (Solution)
• Impulse response of a 1st order system is given below.
𝒄(𝒕) = 𝟑𝒆−𝟎.𝟓𝒕
• Find out
• Time constant T
• D.C. Gain K
• Transfer Function
• Step Response

Ans:
• Time constant T=2
• D.C. Gain K=6
• Transfer Function C( s ) 6
=
R( s ) 2S + 1

• Step Response 𝒄(𝒕) = 𝟔(𝟏 − 𝒆−𝟎.𝟓𝒕 )

 Time Domain Analysis of Second Order Systems
• A general second-order system (without zeros) is characterized by the following transfer function.

n2
• Open-Loop Transfer Function G (s) =
s ( s + 2 n )  damping ratio

C( s )  n2 n un-damped natural frequency

• Closed-Loop Transfer Function =
R( s ) s 2 + 2n s +  n2

• Damping ratio is a measure of the degree of resistance to the change in the system output.

• un-damped natural frequency is the frequency of oscillation of the system without damping.
 Second Order System
• Closed-loop T.F. of 2nd Order system • Closed-loop poles of 2nd Order system
C( s )  n2
= −  n   n  2 − 1
R( s ) s 2 + 2n s +  n2
• Depending upon the value of  , a second-order system can be set into one of the four
categories:
(a) Undamped system (𝜻 = 𝟎) (c) Critically damped system (𝜻 = 𝟏)

(b) Underdamped system (𝟎 < 𝜻 < 𝟏) (d) Overdamped system (𝜻 > 𝟏)

 S-Plane
Natural Undamped Frequency

• The s-plane is divided into Constant Natural Undamped

Frequency (ωn) Circles. jω

• Distance from the origin of s-plane to pole is natural undamped

frequency in rad/sec. n
δ
• Pole located anywhere on the circumference of the circle will
have the same natural undamped frequency.

Damping ratio

• Cosine of the angle between vector connecting origin and pole and jω
–ve real axis yields damping ratio 𝜁 = cos 𝜃
• s-plane is divided into sections of constant damping ratio lines. 
δ
• For Underdamped system 𝟎∘ < 𝜽 < 𝟗𝟎∘ therefore, 𝟎 < 𝜻 < 𝟏

• For Undamped system 𝜽 = 𝟗𝟎∘ therefore, 𝜻 = 𝟎

• For overdamped and critically damped systems 𝜽 = 𝟎∘ therefore, 𝜻 ≥ 𝟏
 Step Response of underdamped System
𝐶(𝑠) 𝜔𝑛2 Unit Step Response
= 𝜔𝑛2
𝑅(𝑠) 𝑠 2 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛2 𝐶(𝑠) =
𝑠 𝑠 2 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛2

1 𝑠 + 2𝜁𝜔𝑛
• The partial fraction expansion is given as 𝐶(𝑠) = − 2
𝑠 𝑠 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛2

• Adding and subtracting 𝜻𝟐 𝝎𝟐𝒏 to make a perfect square

𝟏 𝒔 + 𝟐𝜻𝝎𝒏
𝑪(𝒔) = − 𝟐
𝒔 𝒔 + 𝟐𝜻𝝎𝒏 𝒔 + 𝜻𝟐 𝝎𝟐𝒏 + 𝝎𝟐𝒏 − 𝜻𝟐 𝝎𝟐𝒏

2
𝑠 + 2𝜁𝜔𝑛 𝜔𝑛2 1 − 𝜁 2

𝟏 𝒔 + 𝟐𝜻𝝎𝒏 𝟏 𝒔 + 𝟐𝜻𝝎𝒏
𝑪(𝒔) = − 𝑪(𝒔) = −
𝒔 𝒔 + 𝜻𝝎𝒏 𝟐 + 𝝎𝟐𝒏 𝟏 − 𝜻𝟐 𝒔 𝒔 + 𝜻𝝎𝒏 𝟐 + 𝝎𝟐𝒅

• Where 𝝎𝒅 = 𝝎𝒏 𝟏 − 𝜻𝟐 is the frequency of transient oscillations and is called damped

natural frequency.
 Step Response of underdamped System
1 𝑠 + 𝜁𝜔𝑛 𝜁𝜔𝑛
𝐶(𝑠) = − −
𝑠 𝑠 + 𝜁𝜔𝑛 2 + 𝜔𝑑2 𝑠 + 𝜁𝜔𝑛 2 + 𝜔𝑑2

𝜁
𝜔𝑛 1 − 𝜁 2
1 𝑠 + 𝜁𝜔𝑛 1−𝜁 2
𝐶(𝑠) = − −
𝑠 𝑠 + 𝜁𝜔𝑛 2 + 𝜔𝑑2 𝑠 + 𝜁𝜔𝑛 2 + 𝜔𝑑2

1 𝑠 + 𝜁𝜔𝑛 𝜁 𝜔𝑑
𝐶(𝑠) = − −
𝑠 𝑠 + 𝜁𝜔𝑛 2 + 𝜔𝑑2 2 2
1 − 𝜁 2 𝑠 + 𝜁𝜔𝑛 + 𝜔𝑑

Taking inverse laplace transform of the above equation

𝜻
𝒄(𝒕) = 𝟏 − 𝒆−𝜻𝝎𝒏 𝒕 𝐜𝐨𝐬 𝝎𝒅 𝒕 − 𝒆−𝜻𝝎𝒏 𝒕 𝐬𝐢𝐧 𝝎𝒅 𝒕
𝟏 − 𝜻𝟐

−𝜻𝝎𝒏 𝒕
𝜻
𝒄(𝒕) = 𝟏 − 𝒆 𝐜𝐨𝐬 𝝎𝒅 𝒕 + 𝐬𝐢𝐧 𝝎𝒅 𝒕
𝟏 − 𝜻𝟐

𝒆−𝜻𝝎𝒏 𝒕
𝒄(𝒕) = 𝟏 − 𝐬𝐢𝐧(𝝎𝒅 𝒕 + 𝜽)
𝟏− 𝜻𝟐
𝟏 − 𝜻𝟐
Where 𝜽 = 𝒕𝒂𝒏−𝟏
𝜻
 Step Response of underdamped System

• When 𝜻 = 𝟎
𝜔𝑑 = 𝜔𝑛 1 − 𝜁 2 = 𝜔𝑛 𝑐(𝑡) = 1 − cos 𝜔𝑛 𝑡

• When 0 < 𝜻 < 𝟏 𝒆−𝜻𝝎𝒏 𝒕

𝒄(𝒕) = 𝟏 − 𝐬𝐢𝐧(𝝎𝒅 𝒕 + 𝜽)
𝟏− 𝜻𝟐

if  = 0.1 and n = 3 rad / sec

1.8

1.6

1.4

1.2

0.8

0.6

0.4

0.2

0
0 2 4 6 8 10
 Step Response of underdamped System
• When 0 < 𝜻 < 𝟏
1.4

1.2

if  = 0.5 and n = 3 rad / sec 1

0.8

0.6

0.4

0.2

0
0 2 4 6 8 10

• When 0 < 𝜻 < 𝟏

1.4

if  = 0.9 and n = 3 rad / sec

1.2

0.8

0.6

0.4

0.2

0
0 2 4 6 8 10
 Step Response of underdamped System
Variations of unit step response of underdamped System with damping ratio

2
𝜁=0
b=0
1.8 𝜁 = 0.2
b=0.2
𝜁 = 0.4
b=0.4
1.6
b=0.6
𝜁 = 0.6
b=0.9
𝜁 = 0.9
1.4

1.2

0.8

0.6

0.4

0.2

0
0 1 2 3 4 5 6 7 8 9 10
 Step Response of underdamped System
Variations of unit step response of underdamped System with undamped natural frequency

1.4

1.2

0.8
wn=0.5
0.6 wn=1
wn=1.5
wn=2
0.4 wn=2.5

0.2

0
0 1 2 3 4 5 6 7 8 9 10
 Unit Impulse Response of underdamped System
𝐶(𝑠) 𝜔𝑛2 Unit Impulse Response
= 𝜔𝑛2
𝑅(𝑠) 𝑠 2 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛2 𝐶(𝑠) = 2
𝑠 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛2

• Adding and subtracting 𝜻𝟐 𝝎𝟐𝒏 to make a perfect square

𝝎𝟐𝒏 𝝎𝟐𝒏
𝑪(𝒔) = 𝑪(𝒔) =
𝒔𝟐 + 𝟐𝜻𝝎𝒏 𝒔 + 𝜻𝟐 𝝎𝟐𝒏 + 𝝎𝟐𝒏 − 𝜻𝟐 𝝎𝟐𝒏 𝒔 + 𝜻𝝎𝒏 𝟐 + 𝝎𝟐𝒏 𝟏 − 𝜻𝟐

2
𝑠 + 2𝜁𝜔𝑛 𝜔𝑛2 1 − 𝜁 2

𝝎𝒏 𝝎𝒅
𝑪 𝒔 = Where 𝝎𝒅 = 𝝎𝒏 𝟏 − 𝜻𝟐
𝟏− 𝜻𝟐 𝒔 + 𝜻𝝎𝒏 𝟐 + 𝝎𝟐𝒅

Taking inverse laplace transform of the above equation

𝝎𝒏
𝒄(𝒕) = 𝒆−𝜻𝝎𝒏 𝒕 𝐬𝐢𝐧 𝝎𝒅 𝒕
𝟏 − 𝜻𝟐
Unit Impulse Response of underdamped System

𝝎𝟐𝒏
𝒔𝟐 + 𝟐𝜻𝝎𝒏 𝒔 + 𝝎𝟐𝒏

𝝎𝒏
𝒄(𝒕) = 𝒆−𝜻𝝎𝒏 𝒕 𝐬𝐢𝐧 𝝎𝒅 𝒕
𝟏 − 𝜻𝟐
 Time-Domain Specification
For 0<  <1 and ωn > 0, the 2nd order system’s response due to a unit step input looks like
• The delay time (td) is the time required for the response to reach 50% of the final value in the very
first time.
• The rise time (tr) is the time required for the response to rise from 0% to 100% or 5% to 95%, or 10%
to 90% of its final value.
• For underdamped second order systems, the 0% to 100% rise time is normally used. For
overdamped systems, the 10% to 90% rise time is commonly used.
• The peak time (tp) is the time required for the response to reach the first peak of the overshoot.

27
 Time-Domain Specification
• The maximum overshoot (Mp) is the maximum peak value of the response curve measured from
the steady-state value of the response.

- Indicates the relative stability of the system.

• The settling time (ts) is the time required for the response to reach and stay within a range about
the final value of size specified by absolute percentage of the final value (usually 2% or 5%).

• The steady-state error of a system response is defined as the discrepancy between the actual
output and the desired output when the steady state (t → ∞) is reached.

28
 Time Domain Specifications (Rise Time)
Expression for Rise Time
−𝜁𝜔𝑛 𝑡
𝜁
𝑐(𝑡) = 1 − 𝑒 cos 𝜔𝑑 𝑡 + sin 𝜔𝑑 𝑡
1− 𝜁2
Put 𝑡 = 𝑡𝑟 in above equation

𝜁
𝑐(𝑡𝑟 ) = 1 − 𝑒 −𝜁𝜔𝑛 𝑡𝑟 cos 𝜔𝑑 𝑡𝑟 + sin 𝜔𝑑 𝑡𝑟
1− 𝜁2
Where 𝑐(𝑡𝑟 ) = 1
𝜁
−𝑒 −𝜁𝜔𝑛𝑡𝑟 cos 𝜔𝑑 𝑡𝑟 + sin 𝜔𝑑 𝑡𝑟 = 0
1− 𝜁2

𝜁
cos 𝜔𝑑 𝑡𝑟 + sin 𝜔𝑑 𝑡𝑟 = 0 As −𝑒 −𝜁𝜔𝑛𝑡𝑟 ≠ 0
1 − 𝜁2
 Time Domain Specifications (Rise Time)
𝜁
cos 𝜔𝑑 𝑡𝑟 + sin 𝜔𝑑 𝑡𝑟 = 0
1− 𝜁2

above equation can be re−writen as

1 − 𝜁2
sin 𝜔𝑑 𝑡𝑟 = − cos 𝜔𝑑 𝑡𝑟
𝜁

1 − 𝜁2
tan 𝜔𝑑 𝑡𝑟 = −
𝜁

tan 𝜔𝑑 𝑡𝑟 = − tan(𝜽) = tan(𝝅 − 𝜽)

𝜔𝑑 𝑡𝑟 = 𝝅 − 𝜽

𝝅−𝜽
Rise Time: 𝒕𝒓 =
𝝎𝒅
 Time Domain Specifications (Peak Time)
Expression for Peak Time

𝜁
𝑐(𝑡) = 1 − 𝑒 −𝜁𝜔𝑛 𝑡 cos 𝜔𝑑 𝑡 + sin 𝜔𝑑 𝑡
1− 𝜁2
In order to find peak time, we need to differentiate the above equation w. r. t. t.

𝑑𝑐(𝑡) 𝜁 𝜁𝜔𝑑
= 𝜁𝜔𝑛 𝑒 −𝜁𝜔𝑛 𝑡 cos 𝜔𝑑 𝑡 + sin 𝜔𝑑 𝑡 − 𝑒 −𝜁𝜔𝑛 𝑡 −𝜔𝑑 sin 𝜔𝑑 𝑡 + cos 𝜔𝑑 𝑡
𝑑𝑡 1−𝜁 2 1−𝜁 2

𝒅𝒄(𝒕)
When 𝒕 = 𝒕𝒑 , =𝟎
𝒅𝒕

−𝜁𝜔𝑛 𝑡𝑝
𝜁 2 𝜔𝑛 𝜁𝜔𝑑
𝑒 𝜁𝜔𝑛 cos 𝜔𝑑 𝑡𝑝 + sin 𝜔𝑑 𝑡𝑝 + 𝜔𝑑 sin 𝜔𝑑 𝑡𝑝 − cos 𝜔𝑑 𝑡𝑝 = 0
1− 𝜁2 1− 𝜁2

−𝜁𝜔𝑛 𝑡𝑝
𝜁 2 𝜔𝑛 𝜁𝜔𝑛 1 − 𝜁 2
𝑒 𝜁𝜔𝑛 cos 𝜔𝑑 𝑡𝑝 + sin 𝜔𝑑 𝑡𝑝 + 𝜔𝑑 sin 𝜔𝑑 𝑡𝑝 − cos 𝜔𝑑 𝑡𝑝 = 0
1− 𝜁2 1− 𝜁2

−𝜁𝜔𝑛 𝑡𝑝
𝜁 2 𝜔𝑛
𝑒 sin 𝜔𝑑 𝑡𝑝 + 𝜔𝑑 sin 𝜔𝑑 𝑡𝑝 = 0
1− 𝜁2
 Time Domain Specifications (Peak Time)

𝜁 2 𝜔𝑛
sin 𝜔𝑑 𝑡𝑝 + 𝜔𝑑 sin 𝜔𝑑 𝑡𝑝 = 0 As 𝑒 −𝜁𝜔𝑛 𝑡𝑝 ≠ 0
1 − 𝜁2

𝜁 2 𝜔𝑛
sin 𝜔𝑑 𝑡𝑝 + 𝜔𝑑 = 0
1− 𝜁2

𝜁 2 𝜔𝑛
𝒔𝒊𝒏 𝝎𝒅 𝒕𝒑 = 𝟎 As + 𝜔𝑑 ≠ 0
1− 𝜁2

𝝎𝒅 𝒕𝒑 = 𝒔𝒊𝒏−𝟏 𝟎

𝝅
𝟎, 𝝅, 𝟐𝝅, ⋯ Peak Time 𝒕𝒑 =
𝒕𝒑 = 𝝎𝒅
𝝎𝒅
 Time Domain Specifications (Maximum Overshoot)
Expression for Maximum Overshoot

𝜻 And, At t = 𝒕∞
At t = 𝒕𝒑 𝒄(𝒕𝒑 ) = 𝟏 − 𝒆−𝜻𝝎𝒏 𝒕𝒑 𝒄𝒐𝒔 𝝎𝒅 𝒕𝒑 + 𝒔𝒊𝒏 𝝎𝒅 𝒕𝒑
𝟏 − 𝜻𝟐 𝒄(∞) = 𝟏

Maximum Overshoot 𝒄 𝒕𝒑 − 𝒄 ∞ 𝒄 𝒕𝒑 − 𝟏
𝑴𝒑 = =
𝒄 ∞ 𝟏
𝜁
𝑀𝑝 = 1 − 𝑒 −𝜁𝜔𝑛 𝑡𝑝 cos 𝜔𝑑 𝑡𝑝 + sin 𝜔𝑑 𝑡𝑝 − 1 × 100
1 − 𝜁2

𝜋 𝜋 𝜋 𝜁 𝜋
−𝜁𝜔𝑛
Put 𝑡𝑝 = , 𝑀𝑝 = −𝑒 𝜔𝑑 cos 𝜔𝑑 + sin 𝜔𝑑 × 100
𝜔𝑑 𝜔𝑑 1 − 𝜁2 𝜔𝑑

𝜋
−𝜁𝜔𝑛
𝜔𝑛 1−𝜁 2
𝜁
Put ω𝑑 = ω𝑛 1 − ζ2 , 𝑀𝑝 = −𝑒 cos 𝜋 + sin 𝜋 × 100
1− 𝜁2
𝜋𝜁
−
𝑀𝑝 = −𝑒 1−𝜁 2 −1 + 0 × 100

𝝅𝜻
−
𝑴𝒑 = 𝒆 𝟏−𝜻𝟐 × 𝟏𝟎𝟎
 Time Domain Specifications (Settling Time)
𝜁
𝑐(𝑡) = 1 − 𝑒 −𝜁𝜔𝑛 𝑡 cos 𝜔𝑑 𝑡 + sin 𝜔𝑑 𝑡
1− 𝜁2

Settling time (2%) criterion

• Time consumed in exponential decay up to 98% of
−𝜔𝑛 𝜁 ± 𝜔𝑛 𝜁2 −1 the desired output .
4
𝑡𝑠 = 4𝑇 =
𝜁𝜔𝑛

Settling time (5%) criterion

• Time consumed in exponential decay up to 95% of
the desired output .
𝟏
𝑻=
𝜻𝝎𝒏
3
𝑡𝑠 = 3𝑇 =
𝜁𝜔𝑛
 Summary of Time Domain Specifications of Underdamped system
Rise Time
𝜋−𝜃 𝜋−𝜃
𝑡𝑟 = =
𝜔𝑑 𝜔𝑛 1 − 𝜁 2

Peak Time
𝜋 𝜋
𝑡𝑝 = =
𝜔𝑑 𝜔𝑛 1 − 𝜁 2

Maximum Overshoot
𝜋𝜁
−
𝑀𝑝 = 𝑒 1−𝜁 2 × 100

Settling Time (2%) Settling Time (5%)

4 3
𝑡𝑠 = 4𝑇 = 𝑡𝑠 = 3𝑇 =
𝜁𝜔𝑛 𝜁𝜔𝑛
 Step Response of critically damped System ( 𝜁=1 )

C( s )  n2  n2
= Unit Step Response
R( s ) (s +  n )2 C( s ) =
s (s +  n )
2

The partial fraction expansion of the above equation is given as

 n2 A B C
= + +
s(s +  n ) s s +  n (s +  n )2
2

1 1 n
C( s ) = − −
s s +  n (s +  n )2

c(t ) = 1 − e −nt − n e −nt t

c(t ) = 1 − e −nt (1 + nt )

Example
• Consider the system shown in following figure, where damping ratio is 0.6 and
natural undamped frequency is 5 rad/sec. Obtain the rise time tr, peak time tp,
maximum overshoot Mp, and settling time ts with 2% and 5% criterion when the
system is subjected to a unit-step input.
Solution (Example)
 −
Rise Time tr =
d

3.141 − 
tr =
n 1 −  2
2
3.141 − 0.93  1 − 
tr = = 0.55s As  = tan −1 ( n ) = 0.93 rad
5 1 − 0.6 2 n

Peak Time Settling Time (2%) Settling Time (5%)

 4 3
tp = ts = ts =
d n n
3.141 4 3
tp = = 0.785s ts = = 1.33s ts = = 1s
4 0.6  5 0.6  5
Maximum Overshoot

−
1− 2
Mp =e  100

3.141×0.6
−
𝑀𝑝 = 𝑒 1−0.62 × 100 = 0.095 × 100 𝑀𝑝 = 9.5%