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# GNUPLOT v3.6 beta multiplot script file
#
# Second Order System Characteristics
#
# D**2 + 2*zeta*wn*D + (wn**2)y = (wn**2)*x
#
# x input variable
# y output variable
# w frequency ratio (w/wn)
# wn natural frequency
# wd damped natural frequency
# zeta damping ratio
# mag(w) amplitude response
# phi(w) phase response
# wdwn damped natural frequency ratio
# wnt normalized time
#
# Plots:
# Frequency domain magnitude response
# phase response
#
# Time domain unit step response
# unit impulse response
#
#
# Created by: W. D. Kirby email: wdkirby@ix.netcom.com
# Date: 1/18/96
# Released to the public domain with no warranty of any kind
#
set style function lines
set size 1.0, 1.0
set origin 0.0, 0.0
set multiplot
set size 0.5,0.5
set origin 0.0,0.5
set grid
unset key
set angles radians
set samples 250
# Plot Magnitude Response
set title "Second Order System Transfer Function - Magnitude"
mag(w) = -10*log10( (1-w**2)**2 + 4*(zeta*w)**2)
set dummy w
set logscale x
set xlabel "Frequency (w/wn)"
set ylabel "Magnitude (dB)" offset 1,0
set label 1 "Damping =.1,.2,.3,.4,.5,.707,1.0,2.0" at .14,17
set xrange [.1:10]
set yrange [-40:20]
plot \
zeta=.1,mag(w), \
zeta=.2,mag(w), \
zeta=.3,mag(w), \
zeta=.4,mag(w), \
zeta=.5,mag(w), \
zeta=.707,mag(w), \
zeta=1.0,mag(w), \
zeta=2.0,mag(w),-6
# Plot Phase Response
set size 0.5,0.5
set origin 0.0,0.0
set title "Second Order System Transfer Function - Phase"
set label 1 ""
set ylabel "Phase (deg)" offset 1,0
set ytics -180, 30, 0
set yrange [-180:0]
tmp(w) = (-180/pi)*atan( 2*zeta*w/(1-w**2) )
# Fix for atan function wrap problem
tmp1(w)= w<1?tmp(w):(tmp(w)-180)
phi(w)=zeta==1?(-2*(180/pi)*atan(w)):tmp1(w)
plot \
zeta=.1,phi(w), \
zeta=.2,phi(w), \
zeta=.3,phi(w), \
zeta=.4,phi(w), \
zeta=.5,phi(w), \
zeta=.707,phi(w), \
zeta=1,phi(w), \
zeta=2.0,phi(w), \
-90
# Plot Step Response
set size 0.5,0.5
set origin 0.5,0.5
set dummy wnt
unset logscale x
set title "Second Order System - Unit Step Response"
set ylabel "Amplitude y(wnt)" offset 1,0
set xlabel "Normalized Time (wnt)"
set xrange [0:20]
set xtics 0,5,20
set yrange [0:2.0]
set ytics 0, .5, 2.0
set mytics 5
set mxtics 10
wdwn(zeta)=sqrt(1-zeta**2)
shift(zeta) = atan(wdwn(zeta)/zeta)
alpha(zeta)=zeta>1?sqrt(zeta**2-1.0):0
tau1(zeta)=1/(zeta-alpha(zeta))
tau2(zeta)=1/(zeta+alpha(zeta))
c1(zeta)=(zeta + alpha(zeta))/(2*alpha(zeta))
c2(zeta)=c1(zeta)-1
y1(wnt)=zeta==1?1 - exp(-wnt)*(wnt + 1):0
y2(wnt)=zeta<1?(1 - (exp(-zeta*wnt)/wdwn(zeta))*sin(wdwn(zeta)*wnt + shift(zeta))):y1(wnt)
y(wnt)=zeta>1?1-c1(zeta)*exp(-wnt/tau1(zeta))+c2(zeta)*exp(-wnt/tau2(zeta)):y2(wnt)
plot \
zeta=.1,y(wnt), \
zeta=.2,y(wnt), \
zeta=.3,y(wnt), \
zeta=.4,y(wnt), \
zeta=.5,y(wnt), \
zeta=.707,y(wnt), \
zeta=1,y(wnt), \
zeta=2,y(wnt)
#
# Plot Impulse Response
set origin .5,0.
set title "Second Order System - Unit Impulse Response"
y(wnt)=exp(-zeta*wnt) * sin(wdwn(zeta)*wnt) / wdwn(zeta)
set yrange [-1. :1.]
set ytics -1,.5,1.
plot \
zeta=.1,y(wnt), \
zeta=.2,y(wnt), \
zeta=.3,y(wnt), \
zeta=.4,y(wnt), \
zeta=.5,y(wnt), \
zeta=.707,y(wnt), \
zeta=1,y(wnt), \
zeta=2,y(wnt)
unset multiplot
Click here for minimal script to generate this plot
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