EECE 2520 Fundamentals of Linear Systems

Lecture 14
Characterization of LTI Systems Using the
Laplace Transform
Prof. Thomas R. Consi
Dept. of Electrical and Computer Engineering
Northeastern University

EECE 2520 Lecture 14 v1.0 1

 EECE 2520 Local Schedule
• Thurs., March 4 – Quiz on Convolution (take home)

• Problem Set #5 due Monday, March 8, 11:59pm on Canvas

• Week 8: Thurs, March 11 – Midterm Exam: Chaps. 1, 2, and Laplace

Transforms

• MATLAB Project 2 – due, Tuesday, March 16, 11:59pm on Canvas

EECE 2520 Lecture 14 v1.0 2

 Lecture 14 Topics

• Analysis and Characterization of LTI Systems Using the Laplace Transform

• Causality
• Stability
• LTI Systems Characterized by Linear Constant-Coefficient Differential Equations

• Block Diagram Representations for Causal LTI Systems Described by Differential

Equations and Rational System Functions

• Reading: Signals & Systems 2nd. ed., Chap. 9, Secs. 9.7 and 9.9

EECE 2520 Lecture 14 v1.0 3

 Introduction
• The Laplace transforms of the input and output of an LTI system are related through the
convolution property:
ℒ
ℎ 𝑡𝑡 ∗ 𝑥𝑥 𝑡𝑡 ↔ 𝐻𝐻 𝑠𝑠 𝑋𝑋 𝑠𝑠
• If 𝑥𝑥 𝑡𝑡 = 𝑒𝑒 𝑠𝑠𝑠𝑠 with s in the ROC
• Then
𝑦𝑦 𝑡𝑡 = 𝐻𝐻(𝑆𝑆)𝑒𝑒 𝑠𝑠𝑠𝑠
• 𝑒𝑒 𝑠𝑠𝑠𝑠 is the eigenfunction of the system
• The eigenvalue is the Laplace transform of the impulse response of the system 𝐻𝐻(𝑠𝑠)
• If the ROC includes the 𝑗𝑗𝜔𝜔 axis then 𝐻𝐻(𝑠𝑠) is the frequency response of the system
• Alternate names for 𝐻𝐻 𝑠𝑠
• System Function
• Transfer Function

EECE 2520 Lecture 14 v1.0 4

 • An LTI system is causal if Causality
• ℎ 𝑡𝑡 = 0 for 𝑡𝑡 < 0 (S&S, Chap. 2.3.6)

• Causal systems are right-sided, therefore:

The ROC associated with the system function for a
causal system is a right-half plane
• The converse is not necessarily true

• However if 𝐻𝐻(𝑠𝑠) is rational then causality can be determined by checking

of the ROC is a right-half plane
S&S = Signals and Systems, 2nd. Ed., © 1997 Pearson Education
EECE 2520
For a system with a rational system function,
causality of the system is equivalent to the ROC
being the right-half plane to the right of the
right-most pole
Lecture 14 v1.0 5
 Example 1
• Consider a system with impulse response
ℎ 𝑡𝑡 = 𝑒𝑒 −𝑡𝑡 𝑢𝑢 𝑡𝑡 The ROC associated with the system function
for a causal system is a right-half plane
• Since ℎ 𝑡𝑡 = 0 𝑓𝑓𝑓𝑓𝑓𝑓 𝑡𝑡 < 0 the system is causal

• System function can be obtained from the Laplace transform table

1
𝐻𝐻 𝑠𝑠 = ℜ 𝑠𝑠 > −1
𝑠𝑠 + 1
• The system function is rational and the ROC is to the right of the rightmost pole
For a system with a rational system function, causality of the system is equivalent to
the ROC being the right-half plane to the right of the right-most pole

EECE 2520 Lecture 14 v1.0 6

 Example 2
• Consider a system with the impulse response
ℎ 𝑡𝑡 = 𝑒𝑒 − 𝑡𝑡

• Since ℎ 𝑡𝑡 ≠ 0 𝑓𝑓𝑓𝑓𝑓𝑓 𝑡𝑡 < 0 the system is not causal

• From example 9.7 in Signals & Systems

−2
𝐻𝐻 𝑠𝑠 = 2 = 1 < ℜ 𝑠𝑠 < +1
𝑠𝑠 − 1

• Thus 𝐻𝐻(𝑠𝑠) is rational and has an ROC that is not to the right of the
rightmost pole, consistent with the fact that the system is not causal

EECE 2520 Lecture 14 v1.0 7

• Consider the system
𝑒𝑒 𝑠𝑠
Example 3
𝐻𝐻 𝑠𝑠 = ℜ 𝑠𝑠 > −1
𝑠𝑠 + 1
• The ROC is to the right of the rightmost pole, therefore the impulse response must be right-sided
Determine impulse response
• From Laplace Table
ℒ 1
𝑒𝑒 −𝑡𝑡 𝑢𝑢 𝑡𝑡 ↔ ℜ 𝑠𝑠 > −1
𝑠𝑠 + 1
• Apply time-shifting property
ℒ
𝑥𝑥(𝑡𝑡 − 𝑡𝑡0 ) ↔ 𝑒𝑒 −𝑠𝑠𝑡𝑡0 𝑋𝑋(𝑠𝑠)

• 𝑒𝑒 𝑠𝑠 represents a shift in time 𝑡𝑡 + 1

− 𝑡𝑡+1
ℒ 𝑒𝑒 𝑠𝑠
𝑒𝑒 𝑢𝑢(𝑡𝑡 + 1) ↔
𝑠𝑠 + 1
• The impulse response is
ℎ 𝑡𝑡 = 𝑒𝑒 − 𝑡𝑡+1
𝑢𝑢(𝑡𝑡 + 1)
• ℎ(𝑡𝑡) is nonzero for −1 < 𝑡𝑡 < 0, therefore system is not causal
• Shows that a system function with the ROC being the right-half plane is not necessarily causal
• System function must be rational for above to be true

EECE 2520 Lecture 14 v1.0 8

 Stability
• An LTI system is stable if its impulse response is absolutely integrable (S&S, Chap. 2.3.7)
∞
� ℎ(𝑡𝑡) 𝑑𝑑𝜏𝜏
−∞

• For such a system the Fourier transform converges (S&S, Chap. 4.4)

• The Fourier transform is the Laplace transform evaluated along the 𝑗𝑗𝜔𝜔 − 𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎

• Therefore:

An LTI system is stable if and only if the ROC of its system

function 𝐻𝐻 𝑠𝑠 includes the entire 𝑗𝑗𝜔𝜔 − 𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 [i.e., ℜ 𝑠𝑠 = 0]

EECE 2520 Lecture 14 v1.0 9

 • Consider and LTI system with the system function
𝑠𝑠 − 1
Example 4
𝐻𝐻 𝑠𝑠 =
(𝑠𝑠 + 1)(𝑠𝑠 − 2)

𝑠𝑠 − 1 𝐴𝐴 𝐵𝐵
𝐻𝐻 𝑠𝑠 = = +
(𝑠𝑠 + 1)(𝑠𝑠 − 2) 𝑠𝑠 + 1 𝑠𝑠 − 2
• Multiply both sides by 𝑠𝑠 + 1 , evaluate at 𝑠𝑠 = −1
𝑠𝑠 − 1 2
� = 𝐴𝐴 =
𝑠𝑠 − 2 𝑠𝑠=−1 3
• Multiply both sides by 𝑠𝑠 − 2 , evaluate at 𝑠𝑠 = 2
𝑠𝑠 − 1 1
� = 𝐵𝐵 =
𝑠𝑠 + 1 𝑠𝑠=2 3

2 1 1 1
𝐻𝐻 𝑠𝑠 = +
3 𝑠𝑠 + 1 3 𝑠𝑠 − 2
• Zero at 𝑠𝑠 − 1
• Poles at 𝑠𝑠 = −1, 𝑠𝑠 = 2
EECE 2520 Lecture 14 v1.0 10
 Example 4, cont,
s-plane
2 1 1 1
𝐻𝐻 𝑠𝑠 = +
3 𝑠𝑠 + 1 3 𝑠𝑠 − 2
X X
• If system is known to be causal -1 1 2

• From Laplace transform table

ℒ 1
𝑒𝑒 −𝛼𝛼𝛼𝛼 𝑢𝑢 𝑡𝑡 ↔ ℜ 𝑠𝑠 > −𝛼𝛼
𝑠𝑠 + 𝛼𝛼

2 −𝑡𝑡 1 2𝑡𝑡
ℎ 𝑡𝑡 = 𝑒𝑒 + 𝑒𝑒 𝑢𝑢 𝑡𝑡 ℜ 𝑠𝑠 > −1 ∩ ℜ 𝑠𝑠 > 2 𝑅𝑅𝑅𝑅𝑅𝑅 = ℜ 𝑠𝑠 > 2
3 3

System is Unstable because ROC does not contain the 𝑗𝑗𝜔𝜔-axis

EECE 2520 Lecture 14 v1.0 11

Example 4, cont,
s-plane

2 1 1 1
𝐻𝐻 𝑠𝑠 = +
3 𝑠𝑠 + 1 3 𝑠𝑠 − 2
X X
-1 1 2
• If system is known to be stable

• From Laplace transform table

ℒ 1 ℒ 1
𝑒𝑒 −𝛼𝛼𝛼𝛼 𝑢𝑢 𝑡𝑡 ↔ ℜ 𝑠𝑠 > −𝛼𝛼 −𝑒𝑒 −𝛼𝛼𝛼𝛼 𝑢𝑢 −𝑡𝑡 ↔ ℜ 𝑠𝑠 < −𝛼𝛼
𝑠𝑠 + 𝛼𝛼 𝑠𝑠 + 𝛼𝛼

2 1
ℎ 𝑡𝑡 = 𝑒𝑒 −𝑡𝑡 𝑢𝑢 𝑡𝑡 − 𝑒𝑒 2𝑡𝑡 𝑢𝑢 −𝑡𝑡 ℜ 𝑠𝑠 > −1 ∩ ℜ 𝑠𝑠 < 2 𝑅𝑅𝑅𝑅𝑅𝑅 = −1 < ℜ 𝑠𝑠 < 2
3 3

System is Causal because 𝐻𝐻(𝑠𝑠) is rational

EECE 2520 Lecture 14 v1.0 12

 Example 4, cont,
s-plane

2 1 1 1
𝐻𝐻 𝑠𝑠 = +
3 𝑠𝑠 + 1 3 𝑠𝑠 − 2
X X
-1 1 2
• From Laplace transform table

ℒ 1
−𝑒𝑒 −𝛼𝛼𝛼𝛼 𝑢𝑢 −𝑡𝑡 ↔ ℜ 𝑠𝑠 < −𝛼𝛼
𝑠𝑠 + 𝛼𝛼

2 1
ℎ 𝑡𝑡 = − 𝑒𝑒 −𝑡𝑡 − 𝑒𝑒 2𝑡𝑡 𝑢𝑢 −𝑡𝑡 ℜ 𝑠𝑠 < −1 ∩ ℜ 𝑠𝑠 < 2 𝑅𝑅𝑅𝑅𝑅𝑅 = ℜ 𝑠𝑠 < −1
3 3

System is not causal because ℎ 𝑡𝑡 ≠ 0 𝑤𝑤𝑤𝑤𝑤𝑤𝑤 𝑡𝑡 < 0

System is not stable because ROC does not contain the 𝑗𝑗𝜔𝜔-axis

EECE 2520 Lecture 14 v1.0 13

Systems Characterized by Linear Constant-Coefficient Differential Equations
• Consider an LTI system with input 𝑥𝑥 𝑡𝑡 and output 𝑦𝑦(𝑡𝑡) that satisfies
𝑑𝑑𝑑𝑑(𝑡𝑡)
+ 3𝑦𝑦 𝑡𝑡 = 𝑥𝑥 𝑡𝑡
𝑑𝑑𝑑𝑑
𝑑𝑑𝑑𝑑(𝑡𝑡)
ℒ = 𝑠𝑠𝑠𝑠(𝑠𝑠) Differentiation in the time domain
𝑑𝑑𝑑𝑑
ℒ 3𝑦𝑦(𝑡𝑡) = 3𝑌𝑌(𝑠𝑠)
ℒ 𝑥𝑥(𝑡𝑡) = 𝑋𝑋 𝑠𝑠
𝑠𝑠𝑠𝑠 𝑠𝑠 + 3𝑌𝑌 𝑠𝑠 = 𝑋𝑋(𝑠𝑠) Linearity
1
𝑌𝑌 𝑠𝑠 = 𝑋𝑋(𝑠𝑠)
𝑠𝑠 + 3
𝑌𝑌 𝑠𝑠 = 𝐻𝐻 𝑠𝑠 𝑋𝑋(𝑠𝑠) Convolution property
1
𝐻𝐻 𝑠𝑠 =
𝑠𝑠 + 3

EECE 2520 Lecture 14 v1.0 14

Systems Characterized by Linear Constant-Coefficient Differential Equations
𝑑𝑑𝑑𝑑(𝑡𝑡)
+ 3𝑦𝑦 𝑡𝑡 = 𝑥𝑥 𝑡𝑡
𝑑𝑑𝑑𝑑
1
𝐻𝐻 𝑠𝑠 =
𝑠𝑠 + 3
• Have algebraic form of system function but not its ROC
• Differential equation itself is not a complete specification of an LTI system (S&S, Chap. 2.4)
• If we know additional properties of the system, then the ROC can be inferred
• If the system is causal then the ROC is the righthand plane
ℎ 𝑡𝑡 = 𝑒𝑒 −3𝑡𝑡 𝑢𝑢 𝑡𝑡 ℜ 𝑠𝑠 > −3
System is stable
• If the system is anticausal then the ROC is the lefthand plane
ℎ 𝑡𝑡 = −𝑒𝑒 −3𝑡𝑡 𝑢𝑢 −𝑡𝑡 ℜ 𝑠𝑠 < −3
System is not stable

EECE 2520 Lecture 14 v1.0 15

 General Linear Constant-Coefficient Differential Equation
𝑁𝑁 𝑑𝑑 𝑘𝑘 𝑦𝑦(𝑡𝑡) 𝑀𝑀 𝑑𝑑 𝑘𝑘 𝑥𝑥(𝑡𝑡)
� 𝑎𝑎𝑘𝑘 𝑘𝑘
=� 𝑏𝑏𝑘𝑘
𝑘𝑘=0 𝑑𝑑𝑡𝑡 𝑘𝑘=0 𝑑𝑑𝑡𝑡𝑘𝑘
• Apply Laplace transform to both sides
• Use linearity and differentiation properties repeatedly
𝑁𝑁 𝑀𝑀
� 𝑎𝑎𝑘𝑘 𝑠𝑠 𝑘𝑘 𝑌𝑌 𝑠𝑠 = � 𝑏𝑏𝑘𝑘 𝑠𝑠 𝑘𝑘 𝑋𝑋 𝑠𝑠
𝑘𝑘=0 𝑘𝑘=0

∑𝑀𝑀
𝑘𝑘=0 𝑏𝑏𝑘𝑘 𝑠𝑠
𝑘𝑘
𝐻𝐻 𝑠𝑠 = 𝑁𝑁
∑𝑘𝑘=0 𝑎𝑎𝑘𝑘 𝑠𝑠 𝑘𝑘
• With zeroes at
Need additional information about
𝑀𝑀
the system to determine ROC
� 𝑏𝑏𝑘𝑘 𝑠𝑠 𝑘𝑘 = 0
𝑘𝑘=0 Causality
• And poles at Stability
Condition of initial rest (causal)
𝑁𝑁
� 𝑎𝑎𝑘𝑘 𝑠𝑠 𝑘𝑘 = 0
𝑘𝑘=0

EECE 2520 Lecture 14 v1.0 16

 Example 5: Find the System Function of an RLC Circuit
• Capacitor voltage and inductor current initially 0
• Initial Rest → system causal
R L
𝑑𝑑𝑑𝑑(𝑡𝑡) 𝑑𝑑2 𝑦𝑦(𝑡𝑡)
• 𝑅𝑅𝑅𝑅 + 𝐿𝐿𝐿𝐿 + 𝑦𝑦 𝑡𝑡 = 𝑥𝑥 𝑡𝑡
𝑑𝑑𝑑𝑑 𝑑𝑑𝑡𝑡 2
+ +
C y(t)
• 𝑅𝑅𝑅𝑅𝑅𝑅𝑅𝑅 𝑠𝑠 + 𝐿𝐿𝐿𝐿𝑠𝑠 2 𝑌𝑌 𝑠𝑠 + 𝑌𝑌 𝑠𝑠 = 𝑋𝑋 𝑠𝑠 x(t) -
• 𝑌𝑌 𝑠𝑠 𝐿𝐿𝐿𝐿𝑠𝑠 2 + 𝑅𝑅𝑅𝑅𝑅𝑅 + 1 = 𝑋𝑋 𝑠𝑠

𝑌𝑌(𝑠𝑠) 1 1⁄𝐿𝐿𝐿𝐿
• System Function: 𝐻𝐻 𝑠𝑠 = = = 𝑠𝑠2+ 𝑅𝑅⁄𝐿𝐿
𝑋𝑋(𝑠𝑠) 𝐿𝐿𝐿𝐿𝑠𝑠 2 +𝑅𝑅𝑅𝑅𝑅𝑅+1 𝑠𝑠+ 1⁄𝐿𝐿𝐿𝐿

−𝑅𝑅𝑅𝑅± 𝑅𝑅2 𝐶𝐶 2 −4𝐿𝐿𝐿𝐿

• Poles of 𝐻𝐻 𝑠𝑠 are at
2

• If R, L, and C are all positive then poles of 𝐻𝐻(𝑠𝑠) will always have negative real parts → system will be stable

EECE 2520 Lecture 14 v1.0 17

 Example 6
• Suppose we know that if the input to an LTI system is
𝑥𝑥 𝑡𝑡 = 𝑒𝑒 −3𝑡𝑡 𝑢𝑢 𝑡𝑡

• Then the output is

𝑦𝑦 𝑡𝑡 = 𝑒𝑒 −𝑡𝑡 − 𝑒𝑒 −2𝑡𝑡 𝑢𝑢 𝑡𝑡

1
𝑋𝑋 𝑠𝑠 = ℜ 𝑠𝑠 > −3
𝑠𝑠 + 3

1
𝑌𝑌 𝑠𝑠 = ℜ > −1
(𝑠𝑠 + 1)(𝑆𝑆 + 2)

𝑌𝑌(𝑠𝑠) 𝑠𝑠 + 3 𝑠𝑠 + 3
𝐻𝐻 𝑠𝑠 = = =
𝑋𝑋(𝑠𝑠) 𝑠𝑠 + 1 (𝑠𝑠 + 2) 𝑠𝑠 2 + 3𝑠𝑠 + 2

EECE 2520 Lecture 14 v1.0 18

 𝑋𝑋 𝑠𝑠 =
1
ℜ 𝑠𝑠 > −3
Example 6, cont.
𝑠𝑠 + 3
1
𝑌𝑌 𝑠𝑠 = ℜ > −1
(𝑠𝑠 + 1)(𝑆𝑆 + 2)
𝑌𝑌(𝑠𝑠) 𝑠𝑠 + 3 𝑠𝑠 + 3
𝐻𝐻 𝑠𝑠 = = =
𝑋𝑋(𝑠𝑠) 𝑠𝑠 + 1 (𝑠𝑠 + 2) 𝑠𝑠 2 + 3𝑠𝑠 + 2
• Choice of 3 ROCs:
1. To left of pole at -2
2. Between poles -2 and -1
3. To the right of pole at -1
• Convolution property:
ℒ
𝑦𝑦 𝑡𝑡 = ℎ 𝑡𝑡 ∗ 𝑥𝑥 𝑡𝑡 ↔ 𝑌𝑌 𝑠𝑠 = 𝐻𝐻 𝑠𝑠 𝑋𝑋 𝑠𝑠 𝑅𝑅𝑅𝑅𝑅𝑅 𝑜𝑜𝑜𝑜 𝑌𝑌 𝑠𝑠 = 𝑅𝑅𝐻𝐻 𝑠𝑠 ∩ 𝑅𝑅𝑋𝑋 𝑠𝑠

• ROC choice #3 is consistent with the constraints of the convolution property

• Since the ROC is to the right of the rightmost pole (-1), the system is causal
• Since the ROC contains the 𝑗𝑗𝜔𝜔-axis, the system is stable

EECE 2520 Lecture 14 v1.0 19

• Given the following information about an LTI system: Example 7
1. The system is causal

2. The system function is rational and has only two poles at s=-2 and s=-4

3. If 𝑥𝑥 𝑡𝑡 = 1, then 𝑦𝑦 𝑡𝑡 = 0

4. The value of the impulse response at 𝑡𝑡 = 0+ 𝑖𝑖𝑖𝑖 4

• Determine the system function of the system

• From 1 and 2 we know the system is stable because it is causal and both poles have negative real parts

• Therefore the system function is of the form

𝑝𝑝(𝑠𝑠) 𝑝𝑝(𝑠𝑠)
𝐻𝐻 𝑠𝑠 = = 2
(𝑠𝑠 + 2)(𝑠𝑠 + 4) 𝑠𝑠 + 6𝑠𝑠 + 8

• Where p is a polynomial in s

EECE 2520 Lecture 14 v1.0 20

• Given the following information about an LTI system: Example 7, cont.
1. The system is causal

2. The system function is rational and has only two poles at s=-2 and s=-4

3. If 𝑥𝑥 𝑡𝑡 = 1, then 𝑦𝑦 𝑡𝑡 = 0

4. The value of the impulse response at 𝑡𝑡 = 0+ 𝑖𝑖𝑖𝑖 4

• From #3, the response of the system to 𝑥𝑥 𝑡𝑡 = 1 = 𝑒𝑒 0 must equal

• 𝐻𝐻 0 𝑒𝑒 0𝑡𝑡 = 𝐻𝐻 0 𝑠𝑠 = 0 𝑖𝑖𝑖𝑖 𝑡𝑡𝑡𝑡𝑡𝑡𝑡 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐

• Therefore 𝑝𝑝 0 = 0, meaning 𝑝𝑝(𝑠𝑠) has a root at 0 and thus is of the form

• 𝑝𝑝 𝑠𝑠 = 𝑠𝑠𝑠𝑠 𝑠𝑠

• Where q is another polynomial in s

EECE 2520 Lecture 14 v1.0 21

• Given the following information about an LTI system: Example 7, cont.
1. The system is causal

2. The system function is rational and has only two poles at s=-2 and s=-4

3. If 𝑥𝑥 𝑡𝑡 = 1, then 𝑦𝑦 𝑡𝑡 = 0

4. The value of the impulse response at 𝑡𝑡 = 0+ 𝑖𝑖𝑖𝑖 4

• From the initial value theorem and #4:

𝑠𝑠 2 𝑞𝑞(𝑠𝑠)
• lim 𝑠𝑠𝑠𝑠 𝑠𝑠 = lim =4
𝑠𝑠→∞ 𝑠𝑠→∞ 𝑠𝑠 2 +6𝑠𝑠+8

• The limit is dominated by the highest power of s, if the numerator has a higher degree than the denominator then the limit will diverge

• Therefore, to hold the degree of the numerator to 2, q(s) must be a constant, 𝑞𝑞 𝑠𝑠 = 𝐾𝐾

𝐾𝐾𝐾𝐾 2 𝐾𝐾𝑠𝑠 2
lim = lim 2 = 𝐾𝐾 = 4
𝑠𝑠→∞ 𝑠𝑠 2 + 6𝑠𝑠 + 8 𝑠𝑠→∞ 𝑠𝑠

4𝑠𝑠
𝐻𝐻 𝑠𝑠 =
(𝑠𝑠 + 2)(𝑠𝑠 + 4)

EECE 2520 Lecture 14 v1.0 22

 System Function Algebra and Block Diagram Representations

• Impulse response of two parallel-connected systems

ℎ 𝑡𝑡 = ℎ1 𝑡𝑡 + ℎ2 𝑡𝑡

• From linearity the Laplace transform

𝐻𝐻 𝑠𝑠 = 𝐻𝐻1 𝑠𝑠 + 𝐻𝐻2 𝑠𝑠

• Impulse response of two series-connected systems

ℎ 𝑡𝑡 = ℎ1 𝑡𝑡 ∗ ℎ2 𝑡𝑡

• From linearity the Laplace transform

𝐻𝐻 𝑠𝑠 = 𝐻𝐻1 𝑠𝑠 𝐻𝐻2 𝑠𝑠
EECE 2520 Lecture 14 v1.0 23
 Feedback Interconnection of Two LTI Systems

• 𝑌𝑌(𝑠𝑠) = 𝐻𝐻1 𝑠𝑠 𝐸𝐸 𝑠𝑠

• 𝐸𝐸 𝑠𝑠 = 𝑋𝑋 𝑠𝑠 − 𝑍𝑍 𝑠𝑠

• 𝑍𝑍 𝑠𝑠 = 𝐻𝐻2 𝑠𝑠 𝑌𝑌 𝑠𝑠

• 𝑌𝑌 𝑠𝑠 = 𝐻𝐻1 𝑠𝑠 𝑋𝑋 𝑠𝑠 − 𝐻𝐻2 𝑠𝑠 𝑌𝑌 𝑠𝑠

• 𝑌𝑌 𝑠𝑠 1 + 𝐻𝐻1 𝑠𝑠 𝐻𝐻2 𝑠𝑠 = 𝑋𝑋(𝑠𝑠)𝐻𝐻1 (𝑠𝑠)

𝑌𝑌(𝑠𝑠) 𝐻𝐻1 (𝑠𝑠)

• = 𝐻𝐻 𝑠𝑠 =
𝑋𝑋(𝑠𝑠) 1+𝐻𝐻1 (𝑠𝑠)𝐻𝐻2 (𝑠𝑠)

EECE 2520 Lecture 14 v1.0 24

 Block Diagram Symbols

EECE 2520 Lecture 14 v1.0 25

 Example 8
• Consider the causal LTI system function

1
𝐻𝐻 𝑠𝑠 =
𝑠𝑠 + 3

• From slide 14 we know that this system can be described by the differential equation

𝑑𝑑𝑑𝑑(𝑡𝑡)
+ 3𝑦𝑦 𝑡𝑡 = 𝑥𝑥 𝑡𝑡
X(s) + 1/s Y(s)
𝑑𝑑𝑑𝑑

• In S&S Chap. 2.4.3 we saw that the solution can be found via integration, assuming 𝑦𝑦 −∞ = 0

𝑡𝑡
-3
𝑦𝑦 𝑡𝑡 = � 𝑏𝑏𝑏𝑏 𝜏𝜏 − 𝑎𝑎𝑎𝑎(𝜏𝜏) 𝑑𝑑𝜏𝜏
−∞

• In this example 𝑎𝑎 = 3, 𝑏𝑏 = 1 +
X(s) + 1/s Y(s)
• Applying the feedback connect system function with the block diagram in the form shown in slide 24 -
𝑌𝑌(𝑠𝑠) 𝐻𝐻1 (𝑠𝑠)
= 𝐻𝐻 𝑠𝑠 =
𝑋𝑋(𝑠𝑠) 1 + 𝐻𝐻1 (𝑠𝑠)𝐻𝐻2 (𝑠𝑠) 3
1⁄𝑠𝑠 1
𝐻𝐻 𝑠𝑠 = =
1 + 3/𝑠𝑠 𝑠𝑠 + 3

EECE 2520 Lecture 14 v1.0 26

 Example 9

• Consider the following 2nd order LTI system with the system function

1
𝐻𝐻 𝑠𝑠 =
𝑠𝑠 + 1 (𝑠𝑠 + 2)

• And the corresponding linear constant coefficient differential equation

𝑑𝑑 2 𝑦𝑦(𝑡𝑡) 𝑑𝑑𝑑𝑑(𝑡𝑡)
2
+3 + 2𝑦𝑦 𝑡𝑡 = 𝑥𝑥(𝑡𝑡)
𝑑𝑑𝑡𝑡 𝑑𝑑𝑑𝑑
• This system can be represented by three equivalent block diagrams

EECE 2520 Lecture 14 v1.0 27

 Example 9 – Cascade/Series

1 1⁄𝑠𝑠 1⁄𝑠𝑠
𝐻𝐻 𝑠𝑠 = =
𝑠𝑠 + 1 (𝑠𝑠 + 2) 1 + 1⁄𝑠𝑠 1 + 2⁄𝑠𝑠

+ +
X(s) + 1/s + 1/s
- - Y(s)

1 2

EECE 2520 Lecture 14 v1.0 28

 Example 9 – Direct
1 1 1⁄𝑠𝑠 2
𝐻𝐻 𝑠𝑠 = = =
𝑠𝑠 + 1 (𝑠𝑠 + 2) 𝑠𝑠 2 + 3𝑠𝑠 + 2 1 + 3⁄𝑠𝑠 + 2⁄𝑠𝑠 2

EECE 2520 Lecture 14 v1.0 29

 Example 9 – Parallel
1 1 1
𝐻𝐻 𝑠𝑠 = = −
𝑠𝑠 + 1 (𝑠𝑠 + 2) 𝑠𝑠 + 1 𝑠𝑠 + 2

EECE 2520 Lecture 14 v1.0 30