Exercise 3.

3
Using Example 3.1, if k = 2 and m = 1, obtain the time response of this system if the input is a
unit step function. Assume all initial condition are zero.

d y (t )
+ ky ( t )=ku ( t )
d t2

SOLUTION

d2 y (t )
+2 y ( t )=2 u ( t )
d t2

[ ]

d2 y (t )
d2 y ( t )
dy ( 0 ) 2
=L
= s 2 Y ( s )sy ( 0 )
=s Y ( s )
2
2
dt
dt
dt
y (t )=L [ y ( t ) ] =Y ( s )
u ( t ) =L [ H ( t ) ] =

s 2 Y ( s ) +2 Y ( s )=

Y ( s ) ( s2 +2 ) =

1
s

2
s

2
s
Y ( s )=

2
s ( s 2+2 )

A
A
2
= 1+ 2 2
2
s ( s +2 ) s s +2

A1 ( s 2 +2 ) + A2 ( s )
2
=
s ( s2 +2 )
s ( s2 +2 )
1= A1 ( s2 +2 ) + A2 ( s )

Exercise 3.4
A differential equation describing a dynamic system is:
d2 y (t )
dy ( t )
+3
+2 y ( t )=u ( t )
2
dt
dt
If a unit step is used to excite the system with the initial condition
dy ( 0 )
=3 , obtain the output response of this system.
dt

SOLUTION

[ ]

d2 y (t )
d2 y ( t )
dy ( 0 ) 2
=L
= s 2 Y ( s )sy ( 0 )
=s Y ( s )
2
2
dt
dt
dt

[ ]

dy ( t )
dy ( t )
=L
=s Y ( s ) y ( 0 )=sY ( s )
dt
dt
y (t )=L [ y ( t ) ] =Y ( s )
u ( t ) =L [ H ( t ) ] =

s Y ( s ) +3 sY ( s )+ 2Y ( s )=

1
s

1
s

y ( 0 )=0

and

Y ( s ) ( s2 +3 s+2 ) =

Y ( s )=

1
s

1
1
=
s ( s +3 s+2 ) s ( s +1 ) ( s+ 2 )
2

A
A
A
1
= 1+ 2 + 3
s ( s+1 ) ( s +2 ) s s +1 s +2
A ( s+1 ) ( s +2 ) + A 2 ( s )( s+1 ) + A3 ( s ) ( s+ 2 )
1
= 1
s ( s+1 ) ( s +2 )
s ( s+ 1 )( s+2 )
1= A1 ( s +1 ) ( s+ 2 )+ A 2 ( s ) ( s +1 ) + A 3 ( s )( s+2 )

If s = 0;
1= A1 ( 0+1 ) ( 0+2 ) + A2 ( 0 ) ( 0+1 ) + A 3 ( 0 ) ( 0+2 )
A 1=

1
2

If s = -1;
1= A1 ( (1 )+ 1 )( (1 ) +2 ) + A2 (1 ) ( (1 )+ 1 ) + A 3 (1 ) ( (1 )+2 )
A 3=1

If s = -2;
1= A1 ( (2 )+ 1 )( (2 ) +2 ) + A 2 (2 ) ( (2 ) +1 ) + A3 (2 ) ( (2 ) +2 )
A 2=

1
2

Y ( s )=

1
1
1
+

2 s 2 ( s+1 ) s +2

1 1
y (t )= t + ete2 t
2 2

Exercise 3.5
Obtain the solution of the following differential equations with the given initial conditions.
2

(1)

d y (t )
dy ( t )
dy
+6
+13 y ( t )=5 ; y ( 0 )=1, ( 0 ) =4
2
dt
dt
dt

(2)

d y (t )
dy ( t )
dy
+3
+4 y ( t )=7 t ; y ( 0 )=1, ( 0 )=2
2
dt
dt
dt

(3)

d2 y ( t )
dy ( t )
dy
+3
+4 y ( t )=6 sin t ; y ( 0 )=4 , ( 0 )=5
2
dt
dt
dt

(4 )

dy ( t )
+2 y ( t )=1 ; y ( 0 )=1
dt

SOLUTION

(1)

[ ]

d2 y (t )
d2 y ( t )
dy ( 0 ) 2
=L
= s 2 Y ( s )sy ( 0 )
=s Y ( s ) s4
2
2
dt
dt
dt

[ ]

dy ( t )
dy ( t )
=L
=sY ( s ) y ( 0 )=sY ( s )1
dt
dt
y (t )=L [ y ( t ) ] =Y ( s )

2
s Y ( s )s4+6 ( sY ( s )1 ) +13 Y ( s )=5

s 2 Y ( s ) +6 sY ( s )+ 13Y ( s ) =15+s
Y ( s ) ( s2 +6 s+13 )=15+s
Y ( s )=

10+s
=
( s + 6 s +13 )
2