Response to step, ramp and convolution

Step function, integral of delta function

Forcing function often stepwise continuous When can you also integrate the response

Ramp function, integral of step function

Often serves same purpose as highway ramp Building block

4.2 Step response

Step function
0 for t < a u (t a) = 1 for t > a

Useful for notation. Instead of

1 nt sin d t e g (t ) = md 0 for t > 0 for t < 0

write

1 nt sin d tu (t ) g (t ) = e md

du (t a ) (t a) = dt

Solution of step response

Equation to solve
t

d2 d m 2 + c + k s = u (t ) dt dt

Solve from s (t ) = Obtain

g ( )d

n 1 n t sin d t u (t ) s (t ) = 1 e cos d t + d k

Alternate derivation
Differential equation
d2 d m 2 + c + k s = u (t ) dt dt

General solution of homogeneous equation plus particular solution s=1/k 1 nt s = +e ( C1 cos d t + C2 sin d t ) k Find constant from s ( 0 ) = s ( 0 ) = 0
n 1 n t sin d t u (t ) s (t ) = 1 e cos d t + d k

4.3 Ramp response

Unit ramp function r(t-a)=(t-a)u(t-a) Relation to step function
r (t a ) =

u ( a)d

u (t a ) =

dr (t a ) dt

Differential equation for ramp response When does 2nd equation hold? d2 d m 2 + c + k r = u (t ) dt dt

r (t ) =

s( )d

Problem 4.5
Find response of springmass-damper to F(t) Solution:
F (t ) = F0 [ r (t ) r (t T )] T x(t ) =
F (t ) = F0 [ r (t ) r (t T )] T

Then

F0 [r (t ) r (t T )] T

From problem 4.4 (homework)

1 2 2 2 1 n t 2 r (t ) = t cos d t + sin d t u (t ) +e k n d n

Reading assignment
Sections 4.4, 4.5,4.6

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