MAE107 Homework #8 Solution

Prof. MCloskey
Problem 1
1. The Laplace transform exists and is 1/s with ROC Re(s) > 0.
2. The Laplace transform exists and is 1/( s) with ROC Re(s) < . Note that the imaginary
axis contained is the ROC so F(u) = L(u)|s=j .
3. The Laplace transform exists and is equal to 1/(s ) with ROC Re(s) > .
4. The Laplace transform exists and is given by 1/(s + ) with ROC Re(s) > . Note that
the ROC contains the imaginary axis so F(u) = L(u)|s=j .
5. The Laplace transform exists and is given by 1/(s + ) with ROC Re(s) < .
6. The Laplace transform exists and is given by 2/(2 s2 ) with ROC < Re(s) < .
7. The Laplace transform exists and is given by
s2

s
,
2s + 2 + 02

s2

s+
,
+ 2s + 2 + 02

s2

0
2s + 2 + 02

with ROC Re(s) >

8. The Laplace transform exists and is

with ROC Re(s) > .

9. The Laplace transform exists and is

with ROC Re(s) < .

10. This signal is same as the signal in part 9.
11. The Laplace transform does not exist.

Summary table:
u(t)
(t)
t
e (t), > 0
et (t), > 0
et (t), > 0
et (t), > 0
e|t| , > 0,
et cos(0 t)(t), 0 > 0
et cos(0 t)(t), > 0
et sin(0 t)(t),

>0

L
1
s
1
s
1
s
1
s+
1
s+
2
s2 +2
s
s2 2s+ 2 +02
s+
s2 +2s+ 2 +02
0
s2 2s+ 2 +02

cos(0 t), t (, )

ROC
Re(s) > 0
Re(s) <
Re(s) >
Re(s) >
Re(s) <
< Re(s) <
Re(s) >
Re(s) >
Re(s) <

Problem 2
The equations of motion for each subsystem are
1
1
va +
vin
R1 C1
R1 C1
J1 1 = (b1 + b3 )1 + b3 2 + Kva
J2 2 = b3 1 (b2 + b3 )2
v a =

vout = 0.51
After substituting the values for J1 , etc.,
v a = 10va + 10vin
1 = 21 + 2 + 2va
2 = 1 22
vout = 0.51
Now apply the unilateral Laplace transform to each expression:
s
va va (0 ) = 10
va + 10
vin

1 1 (0 ) = 2
1 +
2 + 2
s
va
2 2 (0 ) =
1 2
2
s
1
vout = 0.5
The expression for va can be determined:
va =

1
10
vin +
va (0 ).
s + 10
s + 10

1 and
2 can be determined from the algebraic equations:
The expressions for

  

1
s + 2 1

2
va + 1 (0 )
=
2
1 s + 2
2 (0 )
2

which yield

va + (s + 2)1 (0 ) + 2 (0 )
1 = 2(s + 2)

s2 + 4s + 3

va + 1 (0 ) + (s + 2)2 (0 )
2 = 2

s2 + 4s + 3
1 (a similar expression can be developed
Substituting the expression for va gives the final result for
2 as well):
for
1 =

20(s + 2)
2(s + 2)
(s + 2)1 (0 ) + 2 (0 )

+
v
(0
)
+
in
a
(s2 + 4s + 3)(s + 10)
(s2 + 4s + 3)(s + 10)
s2 + 4s + 3

1 then
Since vout = 0.5
transfer function

vout

}|
{
10(s + 2)
(s + 2)
(s + 2)1 (0 ) + 2 (0 )
= 2
vin + 2
va (0 ) + 0.5
(s + 4s + 3)(s + 10)
(s + 4s + 3)(s + 10)
s2 + 4s + 3
{z
} |
{z
}
|
zero-state response

free response

The transfer function has a zero at z = 2 so let vin (t) = e2 t , t 0, and lets determine initial
1
conditions such that vout = 0, t 0. Note that vin = s+2
so vout becomes

(s + 2)
10
1
(s + 2)1 (0 ) + 2 (0 )
(s
+
2)

+
v
(0
)
+
0.5
a

s+
2 (s2 + 4s + 3)(s + 10)
(s2 + 4s + 3)(s + 10) 
s2 + 4s + 3


10 + (s + 2)va (0 ) + 0.5(s + 10) (s + 2)1 (0 ) + 2 (0 )
=
(s2 + 4s + 3)(s + 10)


0.51 (0 )s2 + 61 (0 ) + va (0 ) + 0.52 (0 ) s + 10 + 2va (0 ) + 101 (0 ) + 52 (0 )
=
(s2 + 4s + 3)(s + 10)

vout =

If vout (t) = 0, t 0, then vout = 0, so choose the initial conditions to zero out the numerator:
1 (0 ) = 0 (as expected from physical considerations)
:0

6
1
(0
) + va (0 ) + 0.52 (0 ) = 0
:0

10 + 2va (0 ) + 10
1
(0
) + 52 (0 ) = 0
The last two expression yield


 

1 0.5 va (0 )
0
va (0 ) = 1.25
=
=
2 5
2 (0 )
10
2 (0 ) = 2.5
These are the same initial conditions computed in Problem 3, Homework#3.

Problem 3
The bilateral Laplace transform of h is
1
3 1

h(s)
= 2 e0.5s + es ,
s
s s
3

s 6= 0,

(h(0)
= 0).

The bilateral Laplace transform of u is

1
1 1
u
(s) = 2 es es ,
s
s s

s 6= 0,

(
u(0) = 3).

The bilateral Laplace transform of y is

u(s)
y(s) = h(s)



1 0.5s 3 1 s
1 s 1 1 s
= 2 e
+ e
2 e e
,
s
s s
s
s s

s 6= 0,

(
y (0) = 0).

Note that the ROCs for u

, u
, and y are the entire complex plane. The Matlab code to numerically
estimate the inverse transform of y is shown below. Although y is defined at s = 0, this case has
to be handled separately from the formula derived above, thus, its convenient to choose 6= 0 in
the inversion formula.
clear
close all
dom = 0.01;
maxom = 1000;
om = [-maxom:dom:maxom];
s
h
u
y

=
=
=
=

-0.1+j*om; %%%% dont choose sig = 0 because of 1/s terms

2*exp(0.5*s)./s - 3./s + exp(-s)./s;
2*exp(s)./s - 1./s - exp(-s)./s;
h.*u;

maxt = 5;
dt = 0.01; %%% time grid spacing
t = [-maxt:dt:maxt]; %%% time grid
Nt = length(t);
f = zeros(1,Nt);
for k=1:Nt
f(k) = sum(y.*exp(s*t(k)))*dom/2/pi;
end
f = real(f);
figure(1);
plot(t,f)
grid on
axis([-5 5 -3 3])
xlabel(second)
This code produces the following graph of y,
4

3
5

0
second

This matches the graphical result from Homework#4.

Problem 4
The transfer function associated with the ODE is
H(s) =

s3
.
+ 3s + 2

s2

Its not necessary to compute the impulse response, h, of the system, and we know that the
bilateral Laplace transform of the impulse response yields the transfer function, however we do
need to calculate the ROC associated with h. The system described by the ODE is assumed to
be causal so the impulse response will contain the following functions of t: et (t) and e2t (t)
(this conclusion is reached by studying the poles of the transfer function). The ROC is then the
right half-plane extending from the right-most pole. In other words the ROC associated with h is
Re(s) > 1. Now lets study the input. The bilateral Laplace transform of u is
u
=

1
s3

with ROC Re(s) < 3. The Laplace transform of y has a region of convergence that is the intersection
of the ROC for u and the ROC for h. In other words, the ROC for y is 1 < Re(s) < 3, and y is
y = H(s)
u=

1
1
1
1
= 2
=
+
,

+ 3s + 2 
s
3
s + 3s + 2
s+1 s+2

s
3


s2

ROC : 1 < Re(s) < 3

Because the ROC is to right of poles at {1, 2}, the terms in y are right-handed functions of
time. In other words,
y(t) = et (t) + e2t (t),
Here are plots of u and y:
1.5

input, u

0.5

0.5
5

second

output, y

0.5

0.5
5

0
second

Sanity check: we can always use convolution to find y. The impulse response is required, though,
H(s) =

s3
s3
4
5
=
=
+
= h(t) = 4et (t) + 5e2t (t)
s2 + 3s + 2
(s + 1)(s + 2)
s+1 s+2

For example, for t 0,

Z

4e(t ) + 5e2(t ) e3 d

y(t) =

= 4e

e d + 5e

2t

e5 d

= et e4 

t

+ e2t e5 

= et e4 0 + e2t e5t 0
=0
For t > 0,
Z

y(t) =

4e(t ) + 5e2(t ) e3 d +

= 4et

4e(t ) + 5e2(t ) 0d

e4 + 5e2t

e5 d

= et + e2t


Combine the convolutions results to get y(t) = et + e2t (t), which agrees with the Laplace
transform solution.
6

Problem 5
The general idea is to apply the unilateral Laplace transform to the subsystems in the block diagram.
The relationships between the signals in the block diagram were derived in Homework#5 and are
listed below:
1
1
ve = vref
3
3
Ke
v c =
ve
C
M = Kvc
1
1
b
= + M + Md
J
J
J
Recall the numerical values for the components:
J = 4 kg.m
K = 18 N.m/volt
b = 18 N.m/(rad/sec)
C = 0.0005 F
Ke = 0.0015 amp/volt
Thus, the relations and their unilateral Laplace transforms are
1
1
1
1
ve = vref = ve = vref
3
3
3
3
v c = 3ve = s
vc vc (0) = 3
ve
= 18
M = 18vc = M
vc
(0) = 4.5
+ 0.25M
+ 0.25M
d
= 4.5 + 0.25M + 0.25Md = s
in terms of the initial conditions and external signals vref and M
d:
Isolate

(0) = 4.5
+ 0.25M
+ 0.25M
d
s
 



+ 0.25 18 1 vc (0) + 3 1 vref 1

d
+ 0.25M
= 4.5
s
s 3
3
+ 4.5 vc (0) + 4.5 vref 4.5
+ 0.25M
d
= 4.5
s
s
s


= s(0) + 4.5vc (0) + 4.5
d
s2 + 4.5s + 4.5
vref + 0.25sM

Thus,
4.5
0.25s
= s(0) + 4.5vc (0) +
d

v + 2
M
2 + 4.5s + 4.5
2 + 4.5s + 4.5 ref
s
s
s
+
4.5s
+
4.5
|
{z
} |
{z
} |
{z
}
free response

zero-state resp. due to

vref

zero-state resp. due to

Substitute the following ICs and transforms of the inputs:

(0) = 1,

vc (0) = 0.5,
7

1
vref = ,
s

d = 1,
M
s

Md

so

1
4.5
0.25s
= s + (4.5)(0.5) +

+ 2
2
2
s + 4.5s + 4.5
s + 4.5s + 4.5 s s + 4.5s + 4.5
s + 2
4.5
1
= 2
+ 2
|s + 4.5s
{z + 4.5} |s + 4.5s
{z + 4.5 s}
7/3
10/3
+ s+3
s+1.5

 
1

2
1
1
s+1.5
+ s+3
s

1 1 1
7 1
+

.
s 3 s + 1.5 3 s + 3

is the right half-plane that extends to the right of the right-most pole which is at
The ROC of
is:
s = 0. In other words, the ROC is Re(s) > 0. The inverse transform
1
7
(t) = 1 + e1.5t e3t ,
3
3

t 0.

Note that despite the non-zero initial conditions and non-zero disturbance moment Md ,
lim (t) = 1,

so asymptotically tracks vref (t) = 1.