MONDO KABIKA JOYEUX

O 2027

TD1 MIA PBL 7

ACADEMIC YEAR:2022-2023
 MONDO KABIKA JOYEUX
O 2027

Objectives

Reminder of the resolution of linear differential equations with the Laplace Transform and
introduction to the system approach
● The Laplace transform, definition and properties

● Partial fraction decomposition

● Application to linear differential equations

This remainder is done through the proposed exercices.

Introduction and discussion on some new concepts

● input/output signals
● transfer function
● system approach

Exercice 1
Let us consider the following electronic circuit consisting of a resistance R and capacitor C.

The input and output voltages are named e(t) and v(t) respectively. Using the Kirchhoff’s
law, we have

e(t) = R*i(t) + v(t), where i(t) = Cdv(t)/dt is the current passing through the capacitor.

● Give the differential equation relating signals e(t) and v(t).

dv (t)
e(t) = Ri(t) + v(t) or i(t) = C
dt
dv (t) dv (t)
e(t) = R C + v(t) ⇒ v(t)=e(t) - R C
dt dt

● Express the Laplace transform vˆ(s) of v(t), which depends on the one of e(t) denoted
eˆ(s).
v(t)=e(t)-R*i(t)
dv (t)
⇒v(t)=e(t)-RC
dt
V(s)= E(s)-RCsV(s)⇒ V (s)+ RCsV ( s)=E (s)⇒ V (s)(1+ RCs)=E (s)
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E( s)
⇒ V (s)=
(1+ RCs)

● A voltage step of 1V is to be applied at the input e(t), what is the expression of eˆ(s) ?
e(t) = 1
1
E(s)= s

● Solve the differential equation to determine the response v(t) of the circuit to a step
voltage.
It’s the inverse of Laplace transform
1
E (s ) ∗1
V (s)= s
(1+ RCs)⇒ V (s)=
1+ RCs
−t
v(t)= 1-e RC

Exercice 2
Let us consider a pendulum, suspended from a fixed support with a spring.

Applying laws of mechanics, the equation of motion is given by :

mx ̈(t) + kx(t) = 0 that is x ̈(t) + ω0x(t) = 0 with ω0 =pk/m. Where k is the spring stiffness and
m the pendulum mass.

● Express the Laplace transform xˆ(s) of the pendulum position x(t), with an initial
position x(0) = 10 cm and an initial speed x ̇(0) = 0 m/s.
x’’(t)+w 20x(t)=0
2 2
s X ( s)−sf (0)−f '(0)+ w0 X(s)=0
2 2 2
0.1 s
s X(s)-s0.1-0+w 0 X (s)=0⇒X(s)( s +w 0 ¿=10 s ⇒X(s)= 2 2
2
s + w0
● Solve the differential equation to determine the response x(t) of the mechanical
system.
0.1 s s
X(s)= 2 2 ⇒ X (s )=0.1 2 2 ⇒ x (t)=0.1∗cos (w 0 t)
s + w0 s + w0

3. Does the change of variable ω0 seem relevant ? What is the physical meaning of this
parametrization ?

Yes,The physical meaning of this parametrization w 0is pulsation.

● Using Matlab simulink

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● Using Scilab Xcos

Exercice 3
Let us consider another simple mechanical structure as depicted in the figure below. A mass
m translates
along a single axis. The spring stiffness is k and the damping coefficient is c. The position of
the mass is denoted
by x(t) and the equilibrium position at rest corresponds to x = 0. The variable f(t) is an
external force that
we control.

The equation of motion is given by :

m*x ̈(t) + c*x ̇(t) + k*x(t) = f(t).

Numerical values are : m = 1 kg, k = 6 N.m−1 et c = 5 N.s.m−1

● Express the Laplace transform xˆ(s) of the position of the mass x(t), given that initial
conditions are zeros.
m*x” ̈(t) + c*x ̇(t) + k*x(t) = f(t).
⇒x”(t)+5*x’(t)+6*x(t)=f(t)
2
⇒ s X (s)−sf ¿)-f”(0)+5*(sf(s)-f(0))+6*X(s)=F(s)
2
⇒ s ∗X ( s)+¿5s*X(s)+6X(s)=F(s)
F (s )
⇒ X (s) ( s2 +5 s +6 ¿=F(s)⇒ X (s)= 2
( s +5 s+6)

● Solve the differential equation to determine the response

x(t) of the system when a step-like force is applied f(t) = 4 N
for t ≥ 0.
m*x” ̈(t) + c*x ̇(t) + k*x(t) = f(t).
x”(t)+5*x’(t)+6*x(t)=4
2
r +5 r +6=0
+ ¿−¿ 1
Δ=25−24=1⇒ r 1 , 2−5 −2 ou−3 ¿ ¿
2
−2 t −3 t
X h=c 1 e❑ + c2 e ❑
X p =1 , x '=¿0 , x”=0
2 2
⇒0+5.0+6A=4⇒ 6 A=4 ⇒ A= ⇒X p =
3 3
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2
x(t)= X p + ¿X h ⇒x(t)= 3 +c 1 e❑−2 t + c 2 e ❑−3 t

● What would happen if the damping coefficient is reduced c = 2

N.s.m−1
? Redo the calculation with this new value.

x”(t)+2*x’(t)+6*x(t)=4
2
r +2 r +6=0
¿−¿2 i √❑
Δ=1−6=−5 ⇒ r 1 , 2−2+ ¿¿
❑
X h=e ❑ [ c 1 cos √❑ ]
−t

X p =A , x ' =¿0 x”=0

2 2
⇒ 0+ 2.0+6 A=4 ⇒ A= ⇒ X p=
3 3
2
x(t)= X p + ¿X h ⇒ x(t)= 3 +e ❑−t [ c 1 cos √❑ ]

● Using Matlab simulink

● Using Scilab Xcos