Exercise 1

( Inverse Laplace Transform, A partial-fraction expansion)

Find inverse Laplace transform of:

1
Case 1 𝐹 𝑠 = Roots of the Denominator of F(s) Are Real and Distinct
𝑠 + 4)(𝑠 + 8

Case 2 Roots of the Denominator of F(s) Are Real and Repeated

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Case 3 Roots of the Denominator of F(s) Are Complex or Imaginary

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 Solution
1 𝐴 𝐵 Roots of the Denominator of F(s)
Case 1 𝐹 𝑠 =
𝑠 + 4)(𝑠 + 8 Using Partial fraction: 𝐹 𝑠 = +
𝑠+4 𝑠+8 Are Real and Distinct
1 1
𝐴= 𝑠+4 𝐹 𝑠 = = 1 1
𝑠+8 4
𝐹 𝑠 = 4 − 4
𝑠+4 𝑠+8
g
1 1
𝐵 = (𝑠 + 8)𝐶 𝑠 = =− 1
𝑠+4 4 Using Inverse 𝑓 𝑡 = 𝑒 −𝑒
Laplace Transform: 4

Case 2 Roots of the Denominator of F(s) Are Real and Repeated

(1)
We
To find 𝐾 , multiply (1) by 𝑠 + 1 at 𝑠 = −1

To find 𝐾 , multiply (1) by (𝑠 + 2) at 𝑠 = −2 (2) 𝐾 = −2

Therefore, inverse Laplace transform is:
To find 𝐾 , differentiate (2) w.r.t. s: 𝐾 = −2
 For repeated roots with multiplicity r, we have Solution

Case 3 Roots of the Denominator of F(s) Are Complex or Imaginary

𝐾 is found in the usual way:

3
To find 𝐾 and 𝐾 : Multiply (1) by 𝑠(𝑠 + 2 𝑠 + 5), and put 𝐾 = ⁄ 3= 𝑠 +2𝑠+5 +𝐾 𝑠 +𝐾 𝑠
5
3
𝐾 + =0
5
Balancing coefficients(matching) 6
𝐾 + =0
5
Hence, Using Item 7 in Table 2.1 and Items 2 and 4 in Table 2.2, we get

We have denominator, 𝑠 + 2𝑠 + 5 = 𝑠 + 2𝑠 + 1 + 4 = 𝑠 + 1 +2
𝑎 = 1 𝑎𝑛𝑑 𝜔 = 2
𝐴=1
𝐵=1 2
 Exercise 2

For the following differential equation, find the solution c(t) if r(t) is
a unit step function. Assume all initial conditions are zeros.
𝑑 𝑐(𝑡) 𝑑𝑐(𝑡)
+2 + 5𝑐 𝑡 = 3𝑟(𝑡)
𝑑𝑡 𝑑𝑡

2s 5 s 3RCS

s 3
GCS
peg fists
CCS
East b
 Solution
Using Laplace Transform: 𝑠 𝐶 𝑠 + 2 𝑠 𝐶 𝑠 + 5𝐶 𝑠 = 3𝑅(𝑠) (𝑠 + 2 𝑠 + 5)𝐶 𝑠 = 3𝑅(𝑠)

𝐶 𝑠 3 3 1
= 𝐶 𝑠 = 𝑅(𝑠) Input: unit step R s =
𝑅 𝑠 𝑠 + 2𝑠 + 5 𝑠 + 2𝑠 + 5 𝑠
3 ∆= −16 < 0
Output (System Response): 𝐶 𝑠 = 𝑐𝑜𝑚𝑝𝑙𝑒𝑥 𝑟𝑜𝑜𝑡𝑠
𝑠(𝑠 + 2𝑠 + 5)
𝐾 𝐾 𝑠+𝐾
Using Partial fraction: 𝐶 𝑠 = + 𝐾 =
𝐶 𝑠
=
3
= 0.6
𝑠 (𝑠 +2𝑠 + 5) 𝑠 (𝑠 +2𝑠 + 5)
𝐾 = 0.6
𝑠(𝑠 + 2𝑠 + 5)𝐶 𝑠 = 𝐾 (𝑠 +2𝑠 + 5) + 𝐾 𝑠 + 𝐾 𝑠 = 3 𝐾 + 0.6 𝑠 + 𝐾 + 2 𝑠 + 3 = 3
𝐾 + 0.6 = 0
𝐾 = 0.6 𝐾 = 1.2
𝐾 + 1.2 = 0
𝑠 + 2𝑠 + 5 = (𝑠 + 1) +(2) 𝑎 = 1 𝑎𝑛𝑑 𝜔 = 2
𝑠 + 2 = 𝐴 𝑠 + 𝑎 + 𝐵𝜔 𝐴 = 1 𝑎𝑛𝑑 𝐵 = 0.5
𝑠+2 𝐴 𝑠 + 𝑎 + 𝐵𝜔
0.6
(𝑠 +2𝑠 + 5)
= 0.6
(𝑠 + 𝑎) +(𝜔) ILT: 0.6(𝐴𝑒 𝑐𝑜𝑠𝜔𝑡 + 𝐵𝑒 𝑠𝑖𝑛𝜔𝑡)

The time response of the system: 𝒄 𝒕 = 𝟎. 𝟔 − 𝟎. 𝟔𝒆 𝒕

𝒄𝒐𝒔𝟐𝒕 + 𝟎. 𝟓𝒔𝒊𝒏𝟐𝒕 𝒖(𝒕)
 Exercise 3

Consider the following electrical system,

( )
Find the transfer function 𝐺 𝑠 =
( )

R Ls
Is Ni Rit Is It Vo
 Solution

Mesh equation for this circuit is

Substitute, the current passing through capacitor in the above equation.

Apply Laplace transform on both sides.

 Exercise 4 (Modeling: Complex Circuits via Nodal Analysis)

Consider the following electrical system,

( )
Find the transfer function 𝐺 𝑠 =
( )
 Solution
( )
Complex electrical networks (those with multiple loops and nodes). We use nodal analysis to find the transfer function ( )
𝐼 1 𝐼 𝐼 2
𝐼 +𝐼 +𝐼 =0
𝐼 𝐼 Node 1
(1) conductance,

Node 2 𝐼 +𝐼 =0
LT 𝐺 + 𝐶𝑠
𝑉 𝑠 = 𝑉 𝑠 (2)
𝐺
(2) in (1)
𝑉 (𝑠) 𝐺 𝐺 𝐿𝑠
=
𝑉(𝑠) 𝐺 + 𝐺 𝐿𝐶𝑠 + 𝐶 + 𝐺 𝐺 + 𝐺 𝐿 − 𝐺 𝐿 𝑆 + 𝐺

The system Transfer function:

Divide by LC
 Exercise 5

Consider the non-inverting amplifier,

Find the transfer function

𝑅 = 1𝑀Ω, 𝐶 = 1𝜇F,

𝑅 = 10𝑀Ω, 𝐶 = 0.1𝜇F,
 Solution

the transfer function

1 𝑅 𝐶 𝑠+1 𝑠+1
𝑉 (𝑠) 𝑍 +𝑍 𝑍 =𝑅 + = =
= 𝐶𝑠 𝐶𝑠 10 𝑠
𝑉 (𝑠) 𝑍
𝑅 10
𝑍 = =
𝑅 𝐶 𝑠+1 𝑠+1

𝑠+1 10
𝑉 (𝑠) 𝑍 +𝑍 +𝑠+1 10 𝑠 𝑠 + 12 𝑠 + 1
= = 10 𝑠 =1+ =
𝑉 (𝑠) 𝑍 𝑠+1 (𝑠 + 1) (𝑠 + 1)
10 𝑠
Exercise 6 (Translational Mechanical System Transfer Functions: Two Degrees of Freedom)

Find the transfer function, X2(s)/F(s), for the system

 Solution1
Number of differential equations required to describe the system is equal to the number of linearly independent motions (degrees
of freedom).
a. Forces on M1 due only to motion of M1
b. forces on M1 due only to motion of M2
c. all forces on M1

Forces on M1

Two-degrees-of-freedom translational mechanical system

Two-degrees-of-freedom : since Each mass can be moved in the horizontal hold M2 and move M1 hold M1 and move M2
direction while the other is held still.
The Laplace transform of the equation of motion of M1
(1)
𝐴 𝑋 𝑠 − 𝐵𝑋 𝑠 = 𝐹 (1)

total force on M1
(superposition or sum)\
 Solution2
The Laplace transform of the equation of motion of M2
a. Forces on M2 due only to motion of M2;
b. forces on M2 due only to motion of M1;
c. all forces on M2
𝐷
−𝐶 𝑋 𝑠 + 𝐷𝑋 𝑠 = 0 𝑋 𝑠 = 𝑋 𝑠 (2)
𝐶 Forces on M2
2 𝑖𝑛 1 𝐷 𝑋 𝑠 𝐶
𝐴 𝑋 𝑠 − 𝐵𝑋 𝑠 = 𝐹 =
𝐶 𝐹 𝑠 𝐴𝐷 − 𝐶𝐵

Determinant
Transfer function:

where hold M1 and move M2 hold M2 and move M1

total force on M1 (superposition or sum)\

 Exercise 6

Find the state-space model for the given the following system

𝑥̇ = 2𝑥 − 𝑥 + 3𝑢 + 𝑢
𝑥̇ = −2𝑥 − 𝑥 + 3𝑢

𝑦 = 𝑥 + 3𝑥 + 5𝑢 − 𝑢
 Solution

𝑥̇ −1 2 𝑥 3 1 𝑢
= +
𝑥̇ −2 −1 𝑥 0 3 𝑢

𝑥 𝑢
𝑦= 1 3 𝑥 + 5 −1 𝑢
 Exercise 5

Consider the mechanical system shown in Figure, find:

1. Block diagram of the mechanical system (𝑢 𝑡 : 𝑖𝑛𝑝𝑢𝑡, 𝑦(𝑡): 𝑜𝑢𝑡𝑝𝑢𝑡).

2. State space representation of the system (state variables:

𝑥 = 𝑦 𝑡 , 𝑥 = 𝑦̇ 𝑡 )
 Solution

From the diagram, the system equation (SISO) is:

This system is of second order, state variables: 𝑥 = 𝑦 𝑡 𝑎𝑛𝑑 𝑥 = 𝑦̇ 𝑡 = 𝑥 ̇

𝑎𝑛𝑑

The output equation is

the outputs of the integrators are state variables.

𝑘 𝑏 1
𝑥̇ = − 𝑥 − 𝑥 + 𝑢
𝑚 𝑚 𝑚
Block diagram of the mechanical system
 Exercise 7

Find the state-space representation of the electrical network

shown in the figure. The output is 𝑣 (𝑡).

𝑖 𝑖

𝑖 𝑖
𝑣 𝑣

𝑣
𝑣
 Solution

state variables: 𝑣 , 𝑖 , 𝑣

The derivative relations (one for 𝑣 1

𝑖 =𝑖 +𝑖 = 𝑖 + =𝑖 + 𝑣 −𝑣 Mesh 2
each energy-storage element) 𝑅 𝑅
𝑣 =𝑣 −𝑣 Mesh 1
1 1
𝑖 =𝑖 = 𝑣 −𝑣 = (𝑣 − 𝑣 − 𝑣 ) Mesh 2, Mesh 1
𝑅 𝑅
Matrix form state-space representation
𝑣 1 1 1
𝑖 =−
𝑣 +𝑖 − 𝑣 + 𝑣
𝑅 𝑅 𝑅
State vector 𝑥= 𝑖
𝑣 𝑣 =−𝑣 +0𝑖 +0𝑣 + 𝑣
1 1 1
−1 𝑅𝐶
1
𝐶 −1 𝑅𝐶
1
𝑅𝐶
𝑖 =−
𝑅
𝑣 +0𝑖 − 𝑣 + 𝑣
𝑅 𝑅
𝑥̇ = − 1 𝐿 0 0 𝑥 + 1 𝐿 𝑣 (𝑡)
− 1 𝑅𝐶 0 − 1 𝑅𝐶 1
𝑅𝐶
𝑨 𝑩
𝑦= 0 0 1 𝑥 + 0 𝑣 (𝑡)
𝑪 𝑫
 Exercise 8

Consider the system shown in Figure.

Simplify this diagram

Solution