Professional Documents
Culture Documents
s0
b) F(s) =
A
s2
Note: 1 *()+ = 1 { 2} = .
s
Final value is not defined.
s0
A
=A
s
c) F(s) =
s2 +2
s.
=0
s0 s 2 + 2
limF(s) = lim
s0
1 *()+ = t
s
s 2 + 2
s 3 + 3s 2 + 2s = 0
or s(s 2 + 3s + 2) = 0
or s(s + 2)(s + 1) = 0
Note: A second order polynomial with positive coefficients always has
roots with ve real parts.
e.g. ms 2 + bs + k = 0 the poles are always stable.
A higher order polynomial (3rd order or higher) need not be stable if all
coefficients are positive.
However, even if one coefficient is ve, the system will be unstable.
(will have at least one pole with +ve real part)
The FVT is applicable in this example.
s 3 + 2s 2 + 4s
s 2 + 2s + 4 4
lim f(t) = lim sF(s) = lim 3
= lim 2
= =2
t
s0
s0 s + 3s 2 + 2s
s s + 3s + 2
2
Example:
5s 2 + 8s 5
F(s) = 2 2
s (s + 2s + 5)
Find f(t), feature: Repeated pole at s=0.
F(s) =
As + B
Cs + D
+
s2
s 2 + 2s + 5
F(s) =
s + 2
2s 2
1 2
2(s 1)
s2
s 2 + 2s + 5
s s 2 (s + 1)2 + 4
1 2 2(s + 1 2)
= + 2
s s
(s + 1)2 + 4
1 2
2(s + 1)
4
= + 2
+
s s
(s + 1)2 + 22 (s + 1)2 + 22
1 2
2(s + 1)
2
= + 2
+
2.
s s
(s + 1)2 + 22
(s + 1)2 + 22
f(t) = 1 + 2t 2et cos2t + 2et sin2t
A
B
2
3
+
=2
+
s+2 s+1
s+2 s+1
+ + = ()
In the Laplace domain,
( 2 () (0) (0)) + *() (0)+ + () = ()
(ms 2 + bs + k)X(s) = F(s) + (ms + b)x(0) = m (0)
X(s) =
1
Zero state reponse
ms 2 + bs + k
(ms + b)x0 + mv0
Zero input response
ms 2 + bs + k
For a stable system, the zero input response 0 as t .
The zero-state response need not converge to zero as t .
It will have some terms that converge to zero and some terms that do not
converge to zero.
For example: if F(s) =
F0
s
lim f(t) =
F0
( does not converge to zero)
k
The terms that do not converge to zero constitute the steady state
response of the system, and all the terms that converge to zero constitute
1
ms2 +bs+k
April 4, 2013
Continuing with the previous m, k, b system.
If the initial conditions are zero,
X(s) =
ms 2
1
F(s)
+ bs + k
k
1
m
X(s) =
F(s)
k s2 + b s + k
m
m
Compare with
n 2
s 2 + 2n s + n 2
We get
k
b
= n 2 , 2n =
m
m
n : Undamped natural frequency of the system
=
1 b
=
2n m
b
b
=
k m 2km
2
m
s 2 + 2n s + n 2 2 2 n + n 2 = 0
2
(s + n )2 2 n + n 2 = 0
(s + n )2 = n 2 (2 1)
If < 1, then:
(s + n ) = jn 1 2 , j = 1
1
n 2
1
X(s) = . 2
.
k s + 2n s + n 2 s
After partial fraction expansion, the response will be of the type:
x(t) = xss + Aen t sind t + Ben t cosd t
(Likely xss =
F
k
where d = n 1 2
is given by:
x(t) = xss + Ae(nn
2 1)t
+ Be(n n
2 1)t
What about = 1?
The value of = 1 is called critical damping. It is the transition point
between no oscillations and oscillations.
The poles are given in this case by:
s = n n 2 1
s = n = n
Hence
1
n 2
1
X(s) = . 2
.
k s + 2n s + n 2 s
1
n 2
1
1
n 2
1
= . 2
. (for = 1) = .
.
2
k s + 2n s + n s
k (s + n )2 s
After partial fraction expansion and inverse Laplace transforms, the
response is found to be :
x(t) = xss + Aen t + Bten t
(Why? 1 {
1
(+)2
} = )
Example: z = a + bj,
j = 1
Im(z)
What is the steady state response of any LTI system for a sinusoidal input
of frequency ?
Assume that the system is stable : All its poles have negative real parts.
For example:
1
F(s)
ms 2 + bs + k
(sinusoid)
If F(s) = 2
s + 2
1
Then X(s) =
.
ms 2 + bs + k s 2 + 2
X(s) =