Advanced Morden Engineering Mathematics Solution Manual

Solutions Manual Advanced Modern Engineering Mathematics Third edition Glyn James ISBN 0 130 39218 9 © Pearson Education Limited 2004 Lecturers adopting the main text are permitted to download the manual as Hariow, England » London + New York + Boston » San Francisco + Toronto Sydney + Tokyo + Singapore « Hong Kong + Seou! « Taipei « New Delhi ‘Cape Town + Madrid » Mexico City + Amsterdam » Munich + Paris « Milan © Pearson Education Limited 2004Pearson Education Limited Edinburgh Gate Harlow Essex CM20 2JE England and Associated Companies throughout the world Visit us on the World Wide Web at: wovew.pearsoned.co.uk First published 1993 Second edition 1999 Third edition 2004 © Pearson Education Limited 1993, 2004 The rights of Glyn James, David Burley, Dick Clements, Phil Dyke, John Searl, Nigel Steele and Jerry Wright to be identified as authors of this work have been asserted by them in accordance with the Copyright, Designs and Patents Act 1988. ISBN: 0 130 39218 9 All rights reserved. Permission is hereby given for the material in this publication to be reproduced for QHP transparencies and student handouts, without express permission of the Publishers, for educational purposes only. In all other cases, no part of this publication may be reproduced, stored ina retrieval system, or transmitted in any form or by any means, electronic, mechanical, photocopying, recording, or otherwise without either the prior written permission of the Publishers or a licence permitting restricted copying in the United Kingdom issued by the Copyright Licensing Agency Ltd, 90 Tottenham Court Road, London WIT 4LP. This book may not be lent, resold, hired out or otherwise disposed of by way of trade in any form of binding or cover other than that in which it is published, without the prior consent of the Publishers.TABLE OF CONTEN Page Chapter 1. Functions of a Complex Variable 1 Chapter 2. Laplace Transforms 7 Chapter 3. The 2 Transform 159 Chapter 4. Fourier series 191 Chapter 5. The Fourier Transform 267 Chapter 6. Matrix Analysis 288 Chapter 7. Vector Calculus 374 Chapter 8. Numerical Solution of Ordinary Differential Equations 440 Chapter 9. Partial Differential Equations 480 Chapter 10. Optimization 538 Chapter 11. Applied Probability and Statistics 6031 Functions of a Complex Variable Exercises 1.2.2 alfa) If|2-2+39 |= 3+3/| so that |etjy-2+ 9 |=|e+jy-j+3| or (27 + (yt 1 =(@ +8) + y- 1* a — drt 4+ y+ 24+ 1a? 46r49+y?—Qy4] Cancelling the squared terms and tidying up A(b) 242° +47(2— 2") =6 Using 2+ 2° = 2a, 2 = 2jy gives Qe + 4j2jy = 6 13 yaar = 2 The straight lines are |2-1-j|=|2-3+3| jz-14+j|=|2-3-3| which, in Cartesian form, are @—1P +1" = @— 3) + (y+ IP ie, a? —2e+14+y?—-2y+1l=a?—-6r49Fy? +241 -2 y © Pearson Education Limited 20042 Glyn James: Advanced Moder Engineering Mathematies, Third edition and (x — 1)? + (y+ 1)? = (@—3)? + (y—1)? ie. a? —2a41+4y?+2y+1=0?-624+94y?—2y41 ya-2t2 ‘These two lines intersect at x/2 (the products of their gradients is —1) and y =0, 2 =2 at their intersection, ie, >= 2490. 23) w=j2+4—3j can be written 7/254 4 — 39 (since n m a = cos — + jsin— = 67/2 cos 5 + jsin 5 = 6*/*) which is broken down as follows a eft 2x + ax t 4-37 a0 rotation translation anticlockwise (0,0) > (4,-3) by dn Let wsutiv, 2=e+iy so that w+ ju =j(x + jy) +4—3F =jr—yt4-3j ie. u=-yt4 ( 3 ( v s ‘Taking 6 times equation (2) minus equation (1) gives 6v —u=6r+y—22 so that, if 6x + y = 22, we must have 6v — the line 0 so that w = 6v is the image of 6x +y = 22 © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematies, 3 = 4 Splitting the mapping w = (1—j)z into real and imaginary parts give ut ju =(1—s\(a+ jy) =a+y+jy-2) je. usaty v=yru so that u+vu=2y Therefore y > 1 corresponds to u-+v > 2 MMi #5 Since w yn so that x > 0 corresponds to v > 1 =6 Since w=jz+1 v u=-ytl so that r>0+v>0 and O0 0 corresponds to w+ 2u <3 » wrdye3 Y UD» Seether Conran) © © Pearson Education Limited 20046 Glyn James: Advanced Modern Engineering Mathematics, Third edition 8(c) From part (b), r=v—2u y=3-u-Ww Squaring and adding gives = (v— Qu)? + (8 —u— 2v)? = 5(u? + v?) — 6u— 12049 stutev!) by -Iw4S=0 8(d) The fixed point(s) are given by = (-24+j)2 +346) 3+ (8+ 6j)(7+ J) hat z= a See so that 7 50 =343;) i 74 Exercises 1.2.5 =9 Writing w i w 1 an See _ ua ju utju ur+r? 1 sothat y= > w+ 0? © © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 7 If y>e then "5 > : u? +02 or rearranging u? 2.t bor+— <0 ¢ If e=0,--5 Y uw? + v? If c< 0, put c= —d and — ov © © Pearson Education Limited 20048 Glyn James: Advanced Modern Engineering Mathematics, Third edition aes 1. +345] 7 oie 7 . ing 2 = — in [2+> = < gives |—+ 543] = < or 3s ar at4 aq ove tats 4° i+ Go +j)u| = qle which, writing w = u+ jv and expanding, gives : 2 44 eee, (1+}e-») + (Fe+u) = Rl? +0?) or, on rearranging a circle centre = 11 Putting 2a (on writing w 1 1 Hence | 2—a|=a maps to Re{w} = = under w = 2a . 1 Moreover, the interior of | 2 — a |= a maps to right of the line Re{w} = =~. The 2a 1 point z= >a mapping to w = — confirms this. 3 is 2 a Jy = 12 The general bilinear mapping is with z=0,w= = b=jd © © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 9 with s =—j,w=1+d—je=b-ja and with z=—-1, w=0>a= Hence 6 =a, d= —ja and e= ja and the mapping is Making = the subject of this formula, we obtain jwtl “* jw—1 Writing »=2+ jy, w =u+jv and equating real and imaginary parts weet —2u w+ (wth? ews Ie Lines % = constant =k, say, transform to kh? + (vt IP) Sw $v? - 1 _ 1 k-1 2k 2 2 aN or ww + This can be rewritten 4 (op A “ay ke ~ —1P k- which are circles (except k = 1 which is vy = —1). Lines y = constant =1, say, transform to WE wt yet =o 2 or («+4) +espe=h which are circles (except ! = 0 which is w= 0). © Pearson Education Limited 200410 Glyn James; Advanced Modern Engineering Mathematics, Third edition The fixed points are given by G++ J/G4F1IP +4 G+1)+ Vor 23 1 = 30 -D-1= v3) (since /6j = +(1+ j)v3 ). a 13 13(a) z2=0>w=c00 © © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 11 [ltd] _v <1ls|w|> v2 13(b) | w |= so that | 2 |= i.e. interior of the unit circle maps to the exterior of the circle centre the origin radius V2. 13(c) 1 = 27t+jy= ‘ =D — jv) so that ute uv eS eel YE Therefore x = y corresponds to v = 0 (the real axis) and x + y = 1 corresponds Qu te ° ere (u—1)? + v? = 1 a circle, centre (1.0) radius 1, 13(d) The fixed point of the mapping is given by 2? = 1+ 7. Using the polar form 1+ 9 = V/2e"I/4, so 2 = +2!/4ers/8 14 The bilinear transformation + 2y | eat? Hence all points on the circle x? + y? = 1 correspond to u=0. From the point (0,—1) to the point (0,1) on the cirele 2? + y® = 1 we use the parameterisation « = cos6é,y = sin@, 7/2 < @ < 3n/2. Using v = 2y 2 y Po pPats pig eee note that v gue +y? = 1 so that sin@ 2sin 40 cos 40 = tan > 3! and between 6 = 3m 1 and @= “y tan 34 ~T¥ 086 2eos? 46 ranges from 1 to co and from —co to —1 henee | v [> 1. © Pearson Education Limited 200412 Glyn James: Advanced Modern Engineering Mathematics, Third edition = 15(a) With w The transformation ut ju,z=24 jy implies and u=- The line y = 0 corresponds to the line u—3v —1=0 in the w plane. The line x =y corresponds to the curve 2 2 1 a circle centre (5,3) radius 5 v5 in the w plane. The origin in the z plane (the intersection of the line y = 0 and x = y) corresponds to the point w= in the w plane. The point at infinity in the 2 plane (the other “intersection” ) corresponds to the point w = 1 in the w plane. The origin (in the w plane) lies outside the circle (1) and is also outside the wedge shaped region in the z plane (z j3 is its image) So the following figure can be drawn The point w = > w plane, and corresponds to the point = ~3(2 + j) = —6 — 37 inside the shaded region of the 2 -1 5 plane. (This is a useful check.) © © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 13 15(b) The fact that w = 1 does not correspond to any finite value of z has already been established. at ‘colts. Consider the equation w= <5. Taking the modulus of both sides gives If |wl=1s|z2+5|=|2-3| or 2? + (y+1)? =(«@-3P $y? Poy 4 wtlae—6r494+y? so that 2y =—6r+8 4 ory +33 Hence the unit circle in the w plane, | w |= 1, corresponds to the line y +3 = 4 216 [Ifw= then z= 5-3 w-1 il so that | z|=|“42| soif|z|=2, |w+1|=2|w-1| or (w+ 1)? +0? = 4(u— 1)? + 40? which simplifies to plane © Pearson Education Limited 200414 Glyn James: Advanced Modern Engineering Mathematics, Third edition 17) Ifw=ei% taking modulus since | 6% If 2 is real (i.e. 2 is on the real axis) then gy? 2 — 26 |= [(e— 20)" + yi] "20 = 20 + 30 Hence | w |= 1. Thus the real axis in the 2 plane corresponds to the unit circle | w |= 1 in the w plane. Making » the subject of the transformation gives 690% ow eff Hence the origin in the w plane maps to z= 29. ‘Thus the inside of the unit circle in the w plane corresponds to the upper half of the = plane provided Im{29} > 0 Since w = 0 maps to 2 = 29,29 =j and z= co maps to w = e% = —1 gives I = = 18 For the transformation the fixed points are given by Hence circular ares or straight lines through x = 0,7 are transformed to circular ares or straight lines through w = 0,7 by the properties of bilinear transformation (section 1.2.4, p.17). ‘The inverse transformation is © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 15 Ll jw yd g I< 3 becomes 5 a al <3 which simplifies to | w—1 |< 1 (use w = w+ ju and split into real and imaginary parts). a 11 4,2 Similarly, | 2— 5 |< x becomes | w~ 5 |> 5 19 The general bilinear mapping is 0 corresponds to 2 = 29 then _ (2 = 2p)e%% ~ cz td If, additionally, | w |= 1 is mapped to | 1 then Ta = | and the inverse of 20 is also mapped to the inverse of w= 0 ie. w Hence cz + d can be replaced by 2§2 —1 giving the mapping Exercises 1.2.7 20 Under the mapping w = 2?, u = 2? — y?,v = 2ry It is not possible to achieve formulae of the type # = (u,v), y = o(u, v), however we can use u =x? —y?, v = 2ry to determine images. Points (0 + j0),(2+ j0) and (0 +42) transform to (0 + j0),(4 + 30) and (—4 + j0) respectively. The positive real axis y = 0,2 > 0 transforms to the (positive) real axis v=Ou=2", The positive imaginary axis * = 0,y > 0 transforms to the (negative) real axis v=0,u= ‘The line joining the point 2+ 0 to the point 0 + j2 has equation e+ y=2. By using the equations u = 2? — y?, v = 2xy we obtain u=40—y), v= 22-9) from which, eliminating y 8v = 16-w? © Pearson Education Limited 200416 Glyn James: Advanced Modern Engineering Mathematics, Third edition Hence we deduce the following picture ‘lao z-pl 2 ” lame 21 Under the transformation w = Hence the line y = a transforms to u =0,v > 0 and the line y = —x transforms to u = 0,v <0. 1 Hence y = «tan transforms to v = utan26 Thus lines through the origin of slope 09 in the z plane transform to lines through the origin of slope 20 in the w plane. Hence the angle between the lines through the origin in the z plane is doubled by the transformation w 22 w Writing z= re!®, nit 22(a) Circles | z |= r are transformed to circles | w |= r” 22(b) Straight lines passing through the origin intersecting with angle @ are 0 =k, 0=k+ 0. These are transformed to w = re, w = rrerstht) 6 lines 6 = nk, = nk + n@ as required. 1 1 2 woit* =244=24 sou=xr£+ © © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 17 = P(rA ly (D. y?) and = 2x hence the image of the 2, v =0, the portion of the real axis in the w Ifr=1,v=0,] 2 |< 1 (becaus: unit circle | plane between —2 and +2. 2 ja] ‘The curves (1) are ellipses, major axis , minor axis > a ir is very large, both of these quantities tend to 1, Hence the image curve 7 tends to a circle wy var? Exercises 1.3.3 = 24(a) (e+ jer =e*(x + jy)(cosy + jsiny) =e*(xcosy —ysiny) + je*(ycosy + vsiny) 80 w=(xcosy—ysiny)e” , v= (ycosy + asiny)e” We need to check the Cauchy-Riemann equations ou . * = = (xcosy — ysiny + cosy)e Ox Ou _ asi inye® = = (-xsiny — ycosy —siny)e Oy oe ( + xsiny+siny)e® = (ycosytrsiny + siny)e Be = Yoosy y y au . © = = (-ysiny + cosy + xcosy)e oy a ) a av Hence 24 = 2 ang Ou — ov oy ox Thus the Cauchy-Riemann equations are valid and ad 2) fy z alee) = (e+ De © Pearson Education Limited 200418 Glyn James: Advanced Modern Engineering Mathematics, Third edition 24(b) Following the same procedure as in (a), we deduce that sin 42 is analytic with derivative 4 cos 42. 24(c) This time, 22* = 22 + y? which is real. Ov 22) 4 5 (=). Obviously, therefore, oe Thus 27* is not analytic. 24(d) Similarly to part (a), cos 22 is analytic with derivative —2sin2z. 2250 w=2? 4 ay? —2Qxy 4 iba? — y? + Qry) = ut jy BU, oy. 8 omy 9 Fe 2B 2 Gy = Pay — 22 3 dv 5 = 2b + 2y, = —2y +2 on x + 2y dy 'y + 2x , ; . dv du av The Couchy-Riemann equations are 5° = — 515 = 5 ‘The second is satisfied, the first only holds if @=—1,6= 1. = 26 With w= 2x(1—y) =22—2ry au Bu ou Ou _ oy ie Qu, 5, = ‘The Cauchy-Riemann equations demand dv dv Ov yg =2 By 2-2y, B= Be Integrating and comparing these gives v=o? —y? + 2y+C (take C= 0) Form u+ jv = 2x — 2ry + j(a? — y? + 2y) = wiz). © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 19 Since 2 =2+ jy, if we put y =0 we can find w(x) which will give the functional form of w, Thus Hence w(2) = 27 e*(—xsiny — ycosy —siny) #6 _ ee rcosy — ysiny + 2cosy) Fai = 2 (ecosy — ysiny + 2cos y 2 FO ox neony 4 ysiny ~20088) ay? hence $$ + 5% =0 and ¢ is harmonic. Writing » = 4(x,y) + ##(2,y), the Canchy-Riemann equations demand ay 6 , da > By = e"(xsiny + ycosy + siny) Z 26 = = e*(x cosy — ysiny + cosy) Integrating $% with respect to x (using integration by parts for the first term) gives » = e*(xsiny + ycosy) + f(y). Examining ¢(x,y) demands that f(y) =0 because all terms will be multiplied by ¢*. Hence w(2) = d(2, y) + jx, y) = € (a cos y — ysin y) + je? (asiny + y cos y) w(a + 90) = w(x) = xe. Hence w(2) = 2¢*. 28 Here we have u(x, y) =sinzcoshy au au so that 2*=cosrcoshy <=sinzsinhy x dy ae e whence im = ~sinneoshy and 55 = sina cosh y so that Vu= S# + $4 = 0 and w is harmonic. © ‘© Pearson Education Limited 200420 Glyn James: Advanced Modern Engineering Mathematics, Third edition Using the Cauchy-Riemann equations gives v = cosasinhy so that u+ ju = w(2) =sinacoshy+jcosxsinhy. Putting y=0 gives w(# + 90) = sina so that 29 The orthogonal trajectories of a family of curves (x,y) =a are ¥(2,y) = 8 where ¢ and ¥ are conjugate functions: that is o(a,y) + ju(e,y) = w(2) an analytic function. Proceeding as in the previous examples. 1 3 Tf (2, y) = 2*y —ay® then ¥(x,y) = gat ty) — 5y 29(b) If d(a,y) = e-* cosy + ay then ¥(2,y) = Hence the orthogonal trajectories are, for 29a) at —6r2y? + yt = and for 29(b) 2e*siny +a? — y= , a constant , a constant. 30(a) 226 = (w+ jy)2e%etiv) = (x? — y? + 2gny)(e?* (cos 2y + j sin 2y)) = e((x? — y?) cos 2y — 2eysin 2y) + je?" ((x? — y?) sin 2y + 2xy cos 2y) 30(b) — sin2z = sin(2z + j2y) = sin 2x cosh 2y + j cos 2x sinh 2y Straightforward calculus reveals both functions obey the Cauchy-Riemann 2 equations and are thus analytic, ‘Their derivatives are (a) (222 + 2)e* and (b) 2cos 2 respectively. = 31 Writing w—sin~!z we can say that =sinw = sin(w + jv) =sinuwcoshv + jcosusinhy © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathema ics, Third edition 21 so that, equating real and imaginary parts, a =sinucoshv and y =cosusinhv Squaring and adding gives x? + y? = sin? ucosh? v + cos” usinh? v = sin? ucosh” v + (1 — sin? u)(cosh? v — 1) = sin? u+ cosh? v — 1 from which PP +i ssintut @ sin? u Solving for sin? u gives 1 » 1 5 gitety)— 5 JL + 2? + y?)? = da? where the minus sign is taken since with wu = 1/2 (ie. x = coshv,y = 0) inconsistencies result otherwise. From cosh? v gin; we obtain Lo, yt 5 cosh? v= (+a? +9?) + SV Fa? yy de? (This is most easily found by solving equation (I) for s2; then using cosh? y = anew’) Square rooting and inverting give u and v in terms of x and y. It can be shown that the expression under the square root sign is positive, for 14a? + y? — 2x (z—1)?+y? = 0 forall real x and y thus (1+2?+y?)? > 427, Hence w =sin™ is an analytic function with derivative +. 32 | sine |? =| sing coshy + j cosxsinhy |* sin? x cosh? y + cos? 2 sinh? y = cosh? y — cos? x = sinh? y + sin? x ‘The result follows immediately from the last two expressions. © Pearson Education Limited 200422 Glyn James: Advanced Modern Engineering Mathematics, Third edition Exercises 1.3.5 a = 83 Mappings are not conformal at the points where &° — e d = 33(a) “ 22 =0 when =0. z=0 is the only point where the mapping fails to be conformal. 33(b) ou lz points are 2 = 4, =3 (both real). 22 +72 = 0 when = 72+ 12=0 ie. non-conformal 33(c) points. 1 1a as non-conformal 1 = 0 when >? = ~ giving “, when » giving =, = 34 Proceeding as in Example 1,13, the mapping 1 war 2 has a fixed point at 2 = co and is analytic everywhere except at z = 0, and conformal except where =0 Since both of these occur on the imaginary axis, consideration of this axis is adequate to completely analyse this mapping. The image of = = j is w = 2j, and the image of z = —j is w = —2j. Writing =jtJe, © real, we find that e- car: =jllte-(+e)"] =jllteti-ete4+..] g[2 + €7] So, no matter whether ¢ > 0 or £ <0, the image point of » = j + je is above w = j2 on the imaginary axis. © Pearson Education Limited 2004Glyn James: Advanced Moder n Engineering Mathematics, Third edition 23 3 ws a-$ alae ite Le. points Q and P in the z plane both map to R in the w plane in a similar fashion to Example 1.13, the non-conformality of z = +) is confirmed and as the imaginary axis (in the z plane) is traversed from —jz to 0 the imaginary axis (in the w plane) is traversed from —Jz to —J2 and back to —joo (when z = reaches —j2). Similarly, as the imaginary axis (in the 2 plane) is traversed from +joo to O, the imaginary axis (in the w plane) is traversed from +joo to +j2 and back to +joo again. Finally, points on the imaginary axis in the w plane such that w = aj,—2 < a< 2, do not arise from any points on the imaginary axis in the z plane. This point is obvious once one solves i: aj=2- to obtain 11 ; 2= ait 5V4-@ 350 lfw then wu "cosy and v =e" siny Hence the expressions u2 + v? = e2* and v = utany can be derived. 35(a) 0 x ; rs Eee Thus if 0 < x < co too then the image region in the w plane is in the shaded | quadrant, but outside the unit circle. ¥ weet __ : = 36 If w=sinz then Since cosz = 0 when z these are the points where the mapping is not conformal sin cosh y + j cos sinz ut jv © © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 25 Hence v = sinxcoshy, v = cosarsinhy thus lines a =k transform to (5!%,)° — (=tg)” = 1 (hyperbolae) and lines y =1 transform to (=%7)" + (qty7)” =1 (ellipses) 1 = . wsiag | j x { on 037 I2=C+% and¢ = Re? then z= Rel? + Sei? so that « = (R+%)cos@ and y = (R— 4) sind If R = a,x = 2acos@ and y = 0 and the real line between +2a is traversed Length of line segment = da. For a circle of radius b, a v= (b+ F)cos8, y= (6-5 Hence the image in the z plane is an ellipse of the form Bot ye (@+PP * Pep Exercises 1.4.2 38(a) 38(b) © Pearson Education Limited 200426 Glyn James: Advanced Modern Engineering Mathematics, Third edition 38(c) In order that | »—1— 7 |< V2 we write toot gti —1-j)+ (2-1-9 -@-1-p8 +.. =(l+z2-14+ 1 valid inside | z—1—j |<| 1—j |= v2. 39 where | 2 |< 1. Using the fact that we can differentiate power series term by term and the radius of convergence remains unaltered 2e — 95 3 _ gS “ery 22+ dem — 62° +... 39(a) 1 ~ 1-952 ot — 45% 8 @aip = 1-227 + 324-428 +528 +... Je| — 27)® 2) seg 2) Hee ‘The radius of convergence is 2 since 2 = 2 is 2 from the singularities at z = 0 and 2 =4j. 40(c) fl2)=% gives f(2)=-3, f'@)= $8, f'"@)=-3. Putting >= 147 gives ja — 2? ts fb =—p FOFD=-Gy aE 6 3 . 24 , f C+D aR f O40 = -Gyap = BA ) Ly fag pe i-pj43e-1-92 -1a-je gt gk tI -1-3)+ G2 -1-9" - 30 -DE The radius of convergence is the distance between the origin (a double pole) and l+jie V2. 41 With f(z)= — we could use the binomial expansion f(2)=(14+2+2°)7! gathering terms to O(2*) This is certainly more efficient than using the derivatives of f(z). However, the best way is to use the fact that (2° — 1) = (2 — 1(2? +241). That is 3 =(1-2)(1-28y? © Pearson Education Limited 2004ics, Third edition 29 Glyn James: Advanced Modern Engineering Mathema =l-2t24.. to order 2° valid in the region | z |< 1. ) = sc) the singularities are at the points where 24 = 1 ie. . The radii of convergence are the minimum distances of the points 2=0, 1+j, 2+ 42 from these singularities. 0 is equidistant (1) from each radius of convergence z= 14+ is distance | from z=1 and z = radius of convergence = 1. 2= 2492 isa distance |2+972—1| from 1 anda distance |2+32—j | from j. Both of these distances = [2? + (2—1)?]/? = = 43 If f(z) =tanz then f'(z) =see%(2) and f” =2see? ztanz but subsequent derivatives get cumbersome to compute (except by using a Computer Algebra ; we can use the series for sinz and cos 2 as follows: Since z = 7/2 is the closest singularity, the radius of convergence is 5. Exercises1.4.6 = 44 The function spe bas & simple pole at» = 0 and a double pole at > = 1. In order to find the Laurent expansions we simply find the following binomial expansions © Pearson Education Limited 200430 Glyn James: Advanced Modern Engineering Mathematics, Third edition + 22432? 4429+...) 2432+ 427+... about 2=0 valid for 0 <| |< 1 and : yt plu = A plisu-dta-2?su-2's. ] = Gog tps tiha- ea ? valid for 0<| 1-2 |<1 = 45 With f(z) = 2?sin (4) there is a singularity at z = 0 and another at x = oo. 1 Expanding sin (4) as a power series in } we find since the principal part is infinite, there must be an essential singularity at 2 =0. Writing z = 4 in order to investigate z = 00 we obtain 1 ww? 2 sin (2) -ata- which implies a simple pole at z = co. (The expansion is the same as that about 2 = 0, but re-interpreted.) At any other point 2°sin} is regular and has a Taylor series of the form f(z) = aj + a12 + a22? +.... Specifically, about 2=a, 2sin(4) =a?sin} + ay2 + a2? +... where a; = f/(a), ap = f(a), ete. © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 31 #46 With f(2) = Gaje-sy there are simple poles at >= 1 and = 46(a) Inside the unit circle | 1, therefore there is a Taylor series a(l=2y 1-2) a4 = a5) = Stet tt (045 +G ++ ) = dee (2s pte +5 pet ieee, ) afer feria Bay. Jal<1 46(b) In the annulus 1 <| 2 |< 2 we rearrange f(2) to obtain a Laurent series as follows 46(c) For | » |[> 2 we rearrange as follows @-DG 46(d) For | z—1|> 1 we write +, If w= 4 then wz —w = 1 or x = =w and find a Taylor’s series in w. © Pearson Education Limited 200432 Glyn James: Advanced Modern Engineering Mathematics, Third edition 2 _ (tee G-DG@-2) ~\l-w =u(ltu\(l+w+u? twit...) so that =wt2w? + w+... 1 2 2 46(e) For 0<|z—2|< 1 we write w z w+2 2 DE} ~ wwe y Ary (14 2)0 whut +.) jr -l+w-w?+ui-... & —1+(2-2)- (2-2)? + (@-2)% 2 —2) Exercises 1.5.2 = 47 ‘The point at infinity is ignored in this question, Most if not all can be found immediately by inspection. cose 47(a) > double pole at z = 0, zeros whenever cosz = 0 ie. 2 = 2B 3(2n + L)r,n = integer. 1 47(b) ———5-— :_ has a double pole at x = —j, a simple pole at 2 =f ©) ERED P ple and no zeros in the finite 2plane. 47(c) =~ : simple poles at 24 = Live. x = 1,—1,j,—J and azero at 2 = 0. ch 47(d) cosh z: since coth > = ~— this has simple poles at those points where 2 = jnw and zero at those points where 2 = $j(2n + I)m,n = integer. © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition sin 2 are) pa! simple poles at x= +7m and zeros at »= n,n = integer. 47(f) ¢7/“'-*) : this has an essential singularity at z = 1 and no zeros. 2-1 47(g) —3—— : this has simple poles at 2 =j and azero at 2 =1 yl 47(h) crely : this has a triple pole at z = —2, a simple pole at and a zero at » =—j. 47(i) TF | this has simple poles at 2*—d2 +5 =0, ie. and a double pole at «= 0, 1 cos = 48(a) ——°** | In order to investigate this, we expand co: Disa 48(b) 2 = 0 is thus a pole of order 3. 48(c) 4 cosh(+). Obviously the point x 1(1+ sty + sty +--+) is the Laurent series which indicates that x = 0 is an =0 isa problem. essential singularity, © Pearson Education Limited 200434 Glyn James: Advanced Modern Engineering Mathematics, Third edition 48(d) tan 1(2? +2242). For this problem the easiest way to proceed is to find the Maclaurin series from first principles. At 2 = 0, tan~1(2* 4 22 4+ 2) = tan-12 which is finite. This means that x = 0 is a regular point, hence it is not actually necessary to find the Laurent series (in this case Maclaurin series) for the function. In fact tan (2? 4+ 22+ 2)=tan- 12+ 49 If f(z) = 42 where p(2) and q(2) are polynomials, then the only singularities of f(z) are the algebraic zeros of q(2). ‘These zeros are either distinet or multiple. The distinct zeros give rise to simple poles of f(2) whereas the multiple zeros give rise to poles of higher order. f(z) can only have these kinds of singularity, although it may have none if q divides p so that f(z) is polynomial. f(2) therefore cannot have an essential singularity. Exercises 1.5.4 Qe+1 Qe+1 a5 = 2 5 hence the singularities are simple poles at 50(@) “3 ~@-DerD Using the formula residue = lim. [(= —20)f(2)] the residues are $ at »=2 and } 20 3 atz=—-l. Hence the residue at z= 0 is 1. © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 35 > > 242 242 soe) et F (©) (2-G?2+9) (@-1)(2+93)(2 — 73) Hence there are simple poles at 2 = 1, 93, —J3 B42 Bod At 2=1, residue = ——? 1" 2 + ee by resieue ~ + py —33) «10 “942 —25 5 at 2 = 73, residue = 9+ 6-3) G3— Dis ~ 6-3-7) at 2 = —93, residue = Be + j) by symmetry. 1 (z= D@? +4) (2+ J2)(2— 92) 2(2 + 92)(2 — 92) 192. 50(d) which has simple poles at 2 At 2 =0, residue = —= (2-1? +4) 3 at 2 = 72, residue = - = 2-142 j 2+ 7) al 4) 3 at 7 = —j2, residue = ~(—1 — 24) similarly. 8 64 get 4 28 2 44et4 2841 50) ps ‘The formula for calculating residues is convenient for this problem. has a pole of order 5 at 2 . 1. dt og 4.3 Residue = lim jal +424 + 2° +1) 1 = — (6.5.4.3 + 4.4.3.2 aa + ) 456 19 2 ati)? 50(f) (57) has a double pole at» = 1. © Pearson Education Limited 200436 Glyn James: Advanced Modern Engineering Mathematics, Third edition etl 50(g) pers) has a simple pole at » = —3 and a double pole at » = 1. : . 1 Residue at z= —3 is — 3 ‘ _ dc z+1 1 Residue at z= Lis weiqg leat -5 3442 3442 ay eS i at »=—2,-1 and 0. 50(h) gas Hee TG Ty Bs sitnple poles at = Land 0 5 Residues are, respectively, —3, 1, 5 following the same procedure as part (c). cos Bia) The pole of at z=0 is simple, thus the residue is cos(0) = 1. sin 2 51(b) The poles of ——, are alll simple, and the residue at 7 = e7/* is att 22+] a — eri/8 lim (2—e7/8 Ssine™/* jim (2S aetd/3 zooms Lot yp Pad Using L'H6pital’s rule, the limit is 1 Aen) 42ers /3 Giving the residue —5,(3 + jV3)sin (4(1 + V3) 4 zt-1 jhe at . 5 at z = e*4/4 is simple and we proceed as in the last BU(e)_ The pole of part. ‘The residue is 2 —eri/4 =2 lim, (—{—— eves ATT 1 1 4e8rj/4 a Hence the residue is ¥7(1 + 7). © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 37 51(d) ae has a simple pole at 7 = Residue = 7 lim ( zn 1 BU(e) Gap apr basa double pole at = . _ . 1 Residue = lim 73{@ —3° para) 2 = lim {-—~_ het G+ ae _ 2 j a) 4 c08 = 52(a) “°S* has a triple pole at 2 =0. le residue = — Qe 52(b) Grey has a double pole at z= —1. od (2 +1)(2? — 22) Residue = 7p ye pay E> Od _ (22 = 2)(2? + 4) — 22(2? — 22) _u — P+ 4)? 35 52(c) The function —“,— has a double pole wherever sin? > sinz =Oie. at 2=na, n= an integer In order to find the residue, we need to compute _ d (a — nme Jim al sin? z ] © Pearson Education Limited 200438 Glyn James: Advanced Modern Engineering Mathematics, Third edition Now dd) and sinz ral sin2 _ Az—nm) sine —(2 sin sin® z As 2— na," +51 and sin? sin z — (2 — nm) cos 2 cos 2 — cos2 + (2 — nm) sin z . ae sing —(2—nm)eosa _, cose — cos + (2 ne) 8IN# (6 Hopital’s rule) sin’ 2 2sin 2 cos 2 + 0as24nr Hence the RHS of equation (I) +e" as 2 + nm. Thus the residue is e"7. Exercises 1.6.3 2° 4 32)d2 with 2=a+ jy, dz = dx + jdy hence (2? + 82)dz = (a? — y? + j2xy + 32 + 73y)(dx + jdy) = (x? —y? + 3x)dx — (Qry + 3y)dy + j[(a? — y? + B8x)dy + Qary + 3y)da] 53(a) The straight line joining 2 + 70 to 0 +32 has equation w+ y = 2 in Cartesian coordinates. This has parametric equation @ = f,y = 2—¢ from which dx = dt, dy = —dt and, using the above expression for (2? + 3z)dz (22 + 82}dz = (t? — (2 — t)? + 3t)dt + (24(2 — t) + 3(2 — t))dt + i[-(#? — (2 — 8)? + 3t)dt + (24(2 — £) + 3(2 — Bae and the range of integration is from t = 2 to t= 0. © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 39 Hence 0 [ (2? + 82)dz f (8t — 2t7 4 2)de c 2 —6t — 28? + 10)de oO + 104] 0 — fae? — 248 j[—3e? — = fe 50 +24, +i [-3e 44 8 50 [(ers9 -55 lo 3 58(b) On the straight line from 2+ 70 to 2+ 32,2 =2 and y goes from 0 to 2, so that dx = 0. ‘Therefore I p> 3? 4 32)dy =| —(4t + 3t)dt 0 sf (4-0? + 6)dt 0 On the straight line from 2+ j2 to 0+ /2,y =2 and « goes from 2 to 0, so that dy=0. ‘Therefore 1 Bin? 2 = [gO at 50], +520 +34]; =-3-s4 Thus f(2? + 32)de = f (2? +B2)de + f (2? +32)d2 = — “4 Cc 7 Cz 3 © Pearson Education Limited 200440 Glyn James: Advanced Modern Engineering Mathematics, Third edition 53(c) For this part, we use » = 26? on | » |= 2 and @ varies between 0 and 7/2 on the quarter circle joining 2+ j0 to 0492. Thus (2? + 32)dz = (4c? + 6e?9)2je7%d9 so that 2/2 [ (2? + 82)dz = [ [sie?? + 123°] do ic 0 x/2 8s 2, = [Fe + 0.| 0 so that f(" — 28 4 2)dz on = [ (bei? — 68 4 a)jeI%a0 0 2 = [zo - re + 204] =0 5 ° Since e?*) = é' 54(b) Integrating around the square in the order 0+ 40, 1+40, 1+ 41, 0441 gives the answers 11,34 4,-11,-3— 4, Adding these together gives 0. 54(c) On the parabola y = 27, x = tyy = ¢? so that 2 = t+ jt? and dz =(1 +4 24t)dt. On the parabola y? =2, x=1?,y=tsothat »=d? + jt and dz = (2t+ j)dt. ‘The computation of f(5:4—2*+2)d2 is extremely long winded but straightforward e and gives the answer 0, = 55 In order to evaluate 0" he © ‘© Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 41 we surround the point = =~» with a circle of radius = on which = = % + ce, O<@< 22. Using equation (1.45) the integral around C’ is the same as the integral around the cirele on which 2 = 29 + ce/°d6. Thus 4 2 joel? np jee oe)" ty me? If n #1, then the integral integrates to [im liana as in example 1.30. Ifn=1, Q.E.D 56(a) If 2 =4 is outside C, by Cauchy's theorem, dz loz —4 0 56(b) If 2 = 4 is inside C, by problem 55 57 In order to use Cauchy’s integral theorem, we split into partial fractions 57(a) If C is the circle | 2 [ Qedz 4 f dz (Q22—-D@+2) czt2 =? ong 4 to 5 i+! © Pearson Education Limited 200442 Glyn James: Advanced Modern Engineering Mathematics, Third edition since 2 = } is inside | 2 |= 1 whereas » = ~2 is ontside. Hence I a C@-Der2 5” 57(b) If Cis the circle | 2 |=3, both singularities (poles) are inside O' whence le 2edz 2 Qz—-D(e+2) 5 _t onj + Seon Ong + Ong = 58 This follows a similar pattern to problem 57. Using partial fractions gives =1=4j) 40-24) | 3-2 +94) z+1 + @+DE-DE+A) 58(a) Only the first two poles (» = —1, = Bat 1 Lerine aera ~29( G1 9+ 500-2) 2) are inside 58(b) All three poles are inside | badz + DE-DE HA) 5 1 (nt L-4j) + gl 29) + ao + ») = 59 Equation (1.48) gives the general form of Cauchy's integral theorem § _tchearte = p00) where C! is a contour enclosing the point » = 20. © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 43 59(a) 59(b) First of all we need to separate the integrand using partial fractions Az @-DE+2P Hence Adz 4 4 ads fompome Pry — Ont FO 0 using Canchy’s integral theorem (the derivative of § is of course zero). All poles of the integrand are inside the circle | 2 |= 3. Exercises 1.6.6 = 60 2+] has poles at 2 = +7 60(a) Since —— is regular inside f 24 0 if Cis the circle cz tl = 2) are 60(b) The residues of + and © Pearson Education Limited 200444 Glyn James: Advanced Modern Engineering Mathematics, Third edition Hence, using the residue theorem 2dz co e+1 ae are at 2°+92=0,ie. 2=0,39, —3j (all simple poles). Only 2 =0 is inside 1 but all three are inside | 2 |= 4. Hence we shall find all the residues. 24 Biz 2+9 61 The singularities of At 2=0, residue is lim ( 30 At 2= 3), the residue is lim 253) +373) -2 -9-9-2 39(37+3j) 18 At 2 =~3, the residue is _ 8)? + BIBI) = 2 949-21 (-37)(-33 - 37) —18 9 61(a) For this part, since only the residue at »=0 is inside C(| z |= 1) 61(b) For this part, all residues need to be taken into account since alll the poles of f(z) are inside O(| 2 |= 4) ff Pt8iz-2, Jo BH92 Note that in this case, all the zeros of the denominator were obviously poles. In general, we would need to check they were not removable by factorising the numerator. © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 45 2+ 22 +4) (2? + 12? +6) Residue at 2 =j is has poles at 2 = +j, 2 = +76. DP +H? +A _ CLF D144) 3G Ie + je + 6) (-14 6) 10 Residue at 2 =—j is tm EtG +E +4) _ 14 YC144) _ 39 2o-j (2+ 9)(2—H(22 +6) — (—27)(-14 6) 10 Residue at » = jV6 is lim ~jVOEP+ 2)? +4) — (6+ 2)(-6 +4) 8 soive (2 — jV6)(2 + JV6)(2? + 1) 25 V6(—6 + 1) v6(—5) 20 6 Residue at 2 = —jx/6 is thus = 62(a) The circle | 2 |= 2 contains the poles at » = +7 but not those at a 35 8 2 =+jV6. The sum of the residues inside C= 5 + 5 = Hence the integral = 0. 62(b) The circle | » — j |= 1 contains only the residue at = Hence > > (2423244) 62(c) The circle | > |= 4 contains all the poles. Since the sum of the residues is, zero, so is the integral. = 63 The function has double poles at 2 =0, 2 = +. oe I+ Residue at z= 0 is d & [Se © Pearson Education Limited 200446 Glyn James: Advanced Modern Engineering Mathematics, Third edition Residue at 2 =j is d dz Residue at 2 = —j is 3 63(a) If C is the circle | 2 dz | foo ap = 2nj(0) =0 , only the residue at 2 =0 is in C. Thus wpe 63(b) All the singularities are inside | |= 2, but since they sum to 0, 64(a) ‘The singularities of ay Be ab 2 = 1 27, 2— De ‘They are all simple poles. Using the formula (1.37) the residues are + 2|=2 only the residue at 2 = 1 is included, hence 322 +2 _ finery (ii) If C is | s |=4, all the residues are included, hence f B27 42 aan o(e—De ta 3 neulaniti 22 G4(b) The singularities of Facey at 2=—1, and simple poles at 7 = +24. are at 2 = —1,+2j. A double pole © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 47 Residues are:- at z=—-1 (i) If C is | |=3, all singularities are inside C. Henee 5 f ae wni(-3 - 2) __28,, Jo (@+1P(2 +4) 25 25 (ii) If @ is |2+9|=2 then 2=—1 and z= —2j are inside C’, but 7 = 2 is not. Hence G4(e) The function Simple poles at z= 1,2, triple poles at z= —1. Residues :- s=2: 5 2 z=-1 (i) The circle | x |= 4 contains none of the singularities therefore f dz -o fo (2+ 182 1)@—2) (ii) The circle | » + 1 |= 1 contains the singularity » = —1 therefore 19 193 ggg 19 =a = 2r4(—gi6) 108 (iii) ‘The rectangle, vertices +4,3+ 7, contains the singularities at 2 = therefore dz 1995 f 2+18(2—-D(e—2) 108 © Pearson Education Limited 200448 Glyn James: Advanced Modern Engineering Mathematics, Third edition 2-1 G4(d) The function Ea—He_ papa has @ pole of order 4 at z = —1, and simple poles at 2 = £2. . _ 1 Residue at 2 = 2 is ae Residue at 2 = —2 is ~7 1@ 2-1 Residue at 2 = —1 is given by as =) whence ~4(— 2)! 42 +2) + . : 1 61 putting » = —1 gives the residue -ai a 1 (i) The circle | x |= } contains none of the singularities hence the integral 1) fe oery aye +14 (ii) The circle | 2+ $ |= 2 contains the singularities at x= —1 and 2 = —2 but not that at 2 = 2 Hence . . CHV) gy ogg¢ 881) ASTI lo (2 —A(e+ 1! “a 8 162 (iii) The triangle with vertices She, —j,3-+ 40 contains all the singularities, hence © Pearson Education Limited 2004yn James: Advanced Modern Engineering Mathematics, Third edition 49 dx +a+l Since the integrand satisfies the condition on p.76 (section 1.6.5), we consider {=a where C is a semicircle radius R, centre the origin in the upper half 2-plane iz ~ plow =e By the residue theorem P+2+1=052 bajhva Only one of these simple poles lies inside C (the one with positive imaginary part) Residue there = li » =F + 55v3 ee eketee That is, residue ) using L’Hopital’s rule (for simplicity) Thus fe +241 © Pearson Education Limited 2004 . i fee iva V350 Glyn James: Advanced Modern Engineering Mathematics, Third edition Now, and, as R+ 00, f +0 t R On f,2=2-= real, Thus, letting R + oo we find that a ho tat+l VB 65(b) This integral is done in precisely the same way as that of part (a), This time, the poles are at +f but they are both double. d 1 fap = 2nj x residue at j = Bj Thus “dee oo (2412 2 de 65(c) To evaluate { @a Dero? we use the same semicircular contour, except that we note ~ dx ire dx fo (@? Fe? 44/2 DY (@? 4 1)@? 44)? 1 plus the fact that has two poles inside C’ this time, the simple (2? + 1)(2? + 4)? pole at z= j and the double pole at z = 27. Residue at 2 =] is ww residue at = 24 is 2= 2) is Fe Thus °° da = bog( A My Be ) G2 tine pape 2° Gap 28ay/ ~ dae © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 51 Qn 65(d) In order to evaluate fs we follow example 1.39 (p.77) and put 2 =e! so that (et271) cos 30 = 4(29 + 279) and cos = 1 2 With dz = je!*d6. Hence we consider fe wer) ‘The function under the integral can be written 1428 1428 L 2g Bat — 228 — 223 25(x — 2)(1 — 22)2 The poles inside | =1 area triple pole at = 0 anda simple pole at = . . ol 65 Using the formula for the residue at x = 5 gives —5)-. 9 expansion about 2 = 0 yields the residue a. The sum is ze Hence Pr c0s380 ag 1 1428 fo «5 —Acos8 25 Ig (2 — 2)(1— 22) Using the Laurent 65(e) on 4d 5+4sine 0 ‘This follows in the same way as part (d). @ Putting » = 6! yields dz = je!?d0, ie, do = : and sin@ = © Pearson Education Limited 200452 Glyn James: Advanced Modern Engineering Mathematics, Third edition [tact te 9 «S+4sin@ Je j2(5+ 3 2 Adz 2+ a)(2 + 25) ‘Thus (C is the unit circle | 2 |= 1) 65(f) 22dx [eye x? + 2x +2) This follows along similar lines to parts (a) and (b). Consider the semicircular contour, centre the origin radius R on the upper half plane, labelled C f dg, {sum of residues inside C} H (2+ e+ aet2) ms insree Double pole at » = j, simple pole at x = —1+4j (4 + 98); residue at 1+ 9 is 3 — jd) Residue at 2 =] is py T 7 Sum =~ 553 giving the integral as [57 Qn db 3—2cosé + sind 0 Once again let z = e#” and consider the integral around the unit circle ‘The poles are at — . Only the first is inside | The residue is 5 and so the value of the integral is 27 by; © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 53 7 de a+] a 65(h) We have a choice here, let us choose a quarter circle contour as shown below. ane Only the root of 24 +1=0 in the positive quadrant, ie. 2 = a , needs to be taken into account . Residue at this point is Hence jn 4 i [+f'+f Land = f= ji Jot 1 Jin Jo Jp 2V2 “2V2 and on the real axis z = #. Therefore on the imaginary axis, z = j p dz ° jdy [ de. dz = + + bon Lett wa laa 4 where we have used (jy)4 Letting R — oo, the last integral + 0. Thus o | es jdy da fentl t+ Equating real (or indeed imaginary) parts gives de fo ate © © Pearson Education Limited 200454 Glyn James: Advanced Modern Engineering Mathematics, Third edition 65(i) , de / @ tae + 5p 1 ‘The semicircular contour is used, the poles of ————_, (22 + 42 + 5)? are at 2=—24j,-2—j both double. Only the residue at > 1 ~2 44, whieh is —, Aj needs to be taken into account. Hence __ & _g ld im G@2+4n¢5 aj 2 65(i) Ff cosbao 34 2cosé 0 eed 25(8 + 32? + 2) . Only the first two are inside Again we use the unit circle on which » =e”. ‘The integrand is 3 with simple poles at 2 = 0, 3 + 1%, = 3 2 v _ 3 C, residues are 1 and ———. Hence the integral has the value 7(1 — =). V5 Exercises 1.8.3 66 Since w ut jv ‘Thus u= x 1 and ifu= 5, x? +y? = 2ar. x+y? 2a vy For the two wires shown in Figure 1.41 potentials are centred at Vo or —Vo and are tangent to the imaginary (y) axis. They are thus circles of the form 2? +4? = 2aVgx. The equipotential curves are shown © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition = 67(a) gti earn : e) oad . A494 57 (7+ 9) +97) _,, z 24 +57) > w= = PI X57 (4+ 51) > w= Ty 1449 j =4=7 67(b) Ifw then y= =! wl 1 v a wo thet 2 ty) = Bott — uti+ jo (u? — 1) +0? +j@utv—wter) ora + yj = @+)?+e? . wt 1+2 eae Hence y = 0 corresponds to v =0 67(c) If y=1s|z[=1 -1 p—1 Since z= “— this means that |“ w+ wtl or (w—1)? +0? = (u+1)? + v? from which u=0 |=1 © © Pearson Education Limited 200456 Glyn James: Advanced Modern Engineering Mathematics, Third edition atl In order to progress, note that the image of the semicircular conductor in the w plane is the positive quadrant u > 0,v > 0. Instead of temperature T°C we = 100°C) Sonu 2 a means of eliminating the me consider <— since this function has the value 200 0 (where T The mapping w = xample 1.14, p.37) provid singularity at w = 0. The complex variable z is already defined, therefore write w = & (complex variable ¢). The imaginary part of ¢ is identified with the aT 200° aled) temperature as required. Ox ; Integrating gives H = Hence W =G+jH = 68(b) If w=Inz then 2 =e" Given H(z) = 22+ jo? = 260” + jee" equating real parts gives 2 G(x,y) = 26" cosy — e* sin Ww as required 68(c) If w = f(z) then the real and imaginary parts of f(z) are harmonic functions. Hence if ¢ = 9( So ¢ = g(w) then the real and imaginary parts of g are harmonic. 9(f(z)) implies that harmonic functions (the real and imaginary © © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 57 parts of f(z) transform to harmonic functions (the real and imaginary parts of g(w)). z+38 69 Ifw= . w =3 then | w |= & transforms to z+3 ie. (© +3)? + y? = h(a — 3)? + ky? oo gilt . or ey 461 Era 9=0 as required. If the centre of the cirele is to be (—5,0), then 1+ Te 8 —10 ork = We thus (following section 1.8, p.80) require the potential V to be a harmonic function which has a constant value on a circle u? + v? = 4. Hence V has the general form V = Aln(u? + v?) > % on w2 +0? =4,V = Vo whence A= 2 ind Voy oo ve 2 y2 so that Ing mee +0?) ; +37 _(et3Pt¥ —3! (3+ Now u? +0? =| w | Thus \, V =o fini( +3)? + 9°] — mle 3° + 9h 70 This problem follows a similar pattern to problem 67. 70(a) ‘The points Aja = 1,y=0; Byx =0,y = 1; Cx =0,y = ~—1 under the mapping w = 4 transform to 1+ 1-3) = 0 ie. (0,0), w= Le, (0,0), w Tag = Lise, (1,0) UF and w = = Lie. (-1,0) respectively © Pearson Education Limited 200458 Glyn James: Advanced Modern Engineering Mathematics, Third edition i(l=2) 7o(b) w= 4 1 © 1 If z= = real (ie. y=0) then w= W0=2) ,. purely imaginary. Since x : can take all real values, points on y = 0 correspond to points on u = 0, the imaginary axis o(c) ew —22=2) then 2 1+ jtw So that | z|=1>|j—w|=|j+w|orv=0 For the last part we note the following property of the mapping w = (from (a), (b), and (c)) aT In asimilar way to problem 67, identify the function 7 which is (in the z plane), o(¢- = on the —ve real axis, and 0 on the +ye real axis. The mapping w = aT complex variable which has the values of an as imaginary part) Thus x0 100 =tan-! (2) = tan = tan ({) = tan i (using w = 2) to find u and v). This gives the result. = 71 This problem is similar to the last part of problem 69. The successive mappings z+Jj4 =e =Inz a= © © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathema ics, Third edition S In order for the circle centre 5j to be mapped to a circle centred at the origin in the = plane we require 2+i4 2—j4 k° for some constant k a | ie, 2? +y? + 84H y + 16 =0 needs a centre at 5 8(1-4 2) = 101 — 2) or h = i In the w plane, | w |=| In 2 |=| In(x} + y?) |= 2In3 on the boundary of the circle on which T= 100. ‘Thus writing T =A | In(x? + yj) | gives P = 100 when 1 50 xityp= g if l00=A2In3or d= 7 Thus 50 = 20g? 492 T= ing Mri + yi) 50 a + (44 y)* . = in{ 7 42 | as required n3) \a? + (4—y)? Note that T = 0 corresponds to x7 + y? = 1 or y = 0 as is also required (12444 P=| 2-94? is y= 0). 1 72 The mapping w= 2-+ = was studied in Example 1.13 (page 35). Writing, as usual, w=u+ ju and 2=2+ jv leads to y ety wart sandy =y— Pry Hence the unit circle x? + y® = 1 in the 2 plane corresponds to v = 0 (the real axis) in the w plane. Points €/*/8 and e%//8 (P and Q of this problem) correspond to w= 2cos 5 and 2cos 24 respectively. The arc PQ thus corresponds to — p+] = takes this portion of the real axis (—1 v=2 For the mapping w = j32 +j +1 u=—3y+ 1lvu=3e+1 so y= 22 utQWw=3 and a@+y=lsv—-u=3 For the mapping w = 4(1—j)z+ 4(1+3) 1 u=5@@tutD, v= s(a@—-yt)) wie © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 61 so y=2e > Bv—u and x+y=1su=1 3 w=az2+8 when 2=2—j, w=1, and when 2>=0,w=34+9 3(a) Solving the simultaneous equations gives a = —1(3 + j4),8@=34+3. 3(b) Since 1 -2(344j)2+34 5 5 1 . pts — w)(3— 94) so x=13—3u—d4v and Re{2} < 0 corresponds to 3u + dv > 13 3(c) t)a4i—w)s =|w-3-j|<1 3(d) Fixed point is given by as ,- 5 -lq_ esaztBorz= 7h = 17-3) gwige tlorw+v+u-v=0 we 4(b) y=32 Su=3v 4(c) Line joining A(1+ J) to B(z +93) or (1,1) to (2,3) is y= 2x —1 which 2Qv transforms to -lorw+v+u-2Ww= w+ wu? + v2 © Pearson Education Limited 200462 Glyn James: Advanced Modern Engineering Mathematics, Third edition 4(d) oy The following Argand diagram shows all these curves 454? +0?) =u gee et from which (w—1?+ lines x =k, y =I map to circles 2k k+1 F Qv O and w? +? —2u+ 7 41=0 woe — Fixed points are z =0,ie. z= 1+ V2,1—- V2 are the fixed points © © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 63 or 1-2 = 1/2 42/2 Writing w = Whence u = ru eat pri! 2 Squaring and adding gives . vr? \? 2p rei) 77 TY Since u = ty — 2, if a? 44? = 1 then u=0 (imaginary axis in the w plane). the required ellipses. aT we = (w+ jy)? = 29 + Bjx?y + 3Pay + Py so u= 23 —32y? v = 822y — y® are the real and imaginary parts. du» — — 37? — 3y, a av 2 ne by 3y", hence verifying the Cauchy-Riemann equations: Bu _ dv du __ bv on ~ © Pearson Education Limited 200464 Glyn James: Advanced Modern Engineering Mathematics, Third edition #8 u(z,y) —2sinz coshy — y cosa sinh y hence ie = sina cosh y + @cosxcoshy + sina sinhy a au | ond Fi = esinesinhy —yeosecoshy ~ cosersinh y By the Cauchy-Riemann equations, du dv a Ou bv bn By By Be . Ou hence, integrating ae with respect to y ne v =sinxsinhy + 2 cosrsinhy + ysinzcoshy—sinxsinhy + fi(y) . Ou. . Integrating —Z" with respect to 2 gives y wv = (xcosx —sine)sinhy + ysinxcoshy +sinasinh y + fo(x) where f, and fo are arbitrary functions. Comparing gives v = ysinx cosh y +xcos2 sinh y (ignoring the additive constant). Thus w=u+ jv =xsinx coshy — ycosxsinhy + ilysinx cosh y + cosa sinh y) Since this is f(z), we put y= 0 to find f(z) which will give the functional form of f, namely f(x) =asinx. Thus f(z) =zsinz. aztb etd must have d= 0, hence (relabelling the constants) w = Writing this as w2 = a2 + 8 and inserting the pairs of values 30 +a), w 9 Writing w= (the general bilinear mapping) since x = 0 = w = 00 we az+pB —3 gives l=aj+8,1= from which a =0, 8 = 1. Hence w= ‘. © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 65 O(a) Since w= —"— and v= -— 4 — x+y? x+y? the real axis (in the z plane) maps to the real axis (in the w plane). If y > 0 then v= —5s4j2 <0 and vice versa, ‘Thus the lower half of the 2 plane maps to the upper half of the w plane. 9(b) The circle | x or v= —1(v= ~s54 2) If |2—34 |<} then 22+ y?—y <0 or v<~—l, ie. the interior of | »— 37 maps to Im{w) <—1 as required. is 2? +y?—y=0 i |= 2 10 The mapping »=¢ + & maps R= constant (where ¢ = Re!® ) to curves joy oO Rel? + op which describe ellipses in the 2 plane as can be seen by writing 2 2=(R+ ip cos, y= (R— aR whence (R+ gp) (Ro te)? when R= a, y = 0 (real axis). This mapping is used together with bilinear mappings to map an aerofoil shape onto the unit circle, This is useful in aeronautical engineering. iW =(1+2)! using the binomial expansion gives Similarly (+2 both valid in the dise | > |< 1. © Pearson Education Limited 200466 Glyn James: Advanced Modern Engineering Mathematics, Third edition = 12(a) Laz L+e Using the binomial series again gives 1S? ya pt 228 4... l+2 since the nearest singularity of the function to z = 0 is at 2 = —1, the radius of convergence is 1. 12(b) f(s) = gj This time we need to expand about the point > = 1. We use Taylor’s series 1 . 2s y 2 82? fe)= apy PO= carpe PO =~ Gari wrap 1 242 4828 , 24 28827 38424 r= rele) @tip @+p @+if Gti!’ G+s At z= 1 these have values 3;—$; 330;-3 giving the expansion 1 2 (D+ 7@-y - 2 1 ‘The singularities of 7 5 are at 2 = tj which are a distanes V2 from > = 1, hence the radius of convergence is V2. 12(c) ) _ 2 HIE Cy aya PO >+ag pe et te gg Thus P= g++ gi - I GA4+De-I— e-IP +. ‘The radius of convergence is again v2. 1 18 The function yj 4) hes singulatities at 2 — 0, a? convergence is the distance of the centre of the point of expansion from the nearest The radius of © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 67 of these singularities, These are found straightforwardly either by inspection or by using Pythagoras’ theorem zal 2=-b le=ltg; 21 tah; bv5, 2=24 93; 2V2. 1 "i 12) =a 14(a) The Laurent expansion is 1 142?) 1 2 4 6 = (1-2? +24 28 +...) —2428—25 40, valid for 0 <| 2 |< 1 14(b) Since f(z) is regular at = 1, f(z) has a Taylor expansion : ES) =f) + - DFU) + GoW pee. 1, 14327 fD)= pf @= Gea’ fQ)=-1 so that 15(a) At » = 0, f(z) is regular. Thus the principal part is zero and f(0) =sin1, f(2)=sinl + q2+ m2?4+...,2\<1 © Pearson Education Limited 200468 Glyn James: Advanced Modern Engineering Mathematics, Third edition 15(b) At »=1, f(2) has an essential singularity. 15(c) At 2 =o0,e* has an essential singularity. Hence for parts (b) and (¢) the principal part has infinitely many terms. = 16(a) 1 e* sinh z = = 29 (where =f + 1=0) is . (2 — 29)(2? — 1)(2? + 82 +5) sin { xe +1) _ = DE5 +345) a, ( *) 29 ozo (24 $1 26 — 243 5 0 — 12H + 820 + 5) _ lia ~ 1) 3 +320 +5) 20 a 4 (using 29 = —1) in turn gives the residues $ + $v/2— J, Porting = $-gve+ ad (2+ 9 respectively. 3024 2220 f(s) = 7s has a triple pole at 2 = 14 4 Residue — 2 + 62° — 3024) evaluated at z= 1+ esidue = 9 a 2") evaluated at z= 1+ 7 = 212? + 602° — 18027| +i = 21(—4 — 49) + 60(—2 + 29) — 3609 = -204 — 7324 . 2 = 23(a) ‘The integrand 5-7 --g has poles at 2 = —6 and 2 = —1. Only the second is inside C’, Residue = 2 Integral = oe 2+6 (2? +1)? +3) Gr ojGe ay BS four simple poles +2), 48 al 23(b) ‘The integrand inside C. Residues are 3 js The integral is thus 0. 5 and —2 the sum of which is 0. 5 © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 73 1 28(e) The integrand —-7—-yyp has double poles at » = 0,1 and ~1. (2) Residues are, at ¢ = 0, 2e (-2?)8 22241) ~ (4228 (i) fC is (ii) If C is | then only z =0 is inside C, so integral = 0 1 2 2 then all poles are inside C, so integral = 3xj. 1 (22 —37)(2+ 9) . . 1, 1. are, respectively, si and Bf 23(d) The integrand 37 has simple poles at % and —j. Residues at (i) Both poles are inside | z |= 2, but since their sum is zero so is the integral 1 (il) Tnside | z—1 |= 1 the fametion 3 is regular. By Cauchy's theorem the integral = 0. 23(e) The integrand has simple poles at (22 + 1? +24 1) z= 4j,-p49}v3. C is the circle | » — j |= 3 which contains the pole at » = j but not the other three poles. Residue at z= j is —}7 hence the integral = 7. ae —2)(2—3) Residues at 2 = 0,2 are respectively has simple poles at x = 0,3 and a double pole at 2 = 2. 1 Q 3 and —4, (i) If C is | z|=1 only the residue at 2 =0 is considered : integral = (ii) If C is |z|=8 —47j/3. , residues at 0 at 2 are summed; integral = j (qh — } © Pearson Education Limited 200474 Glyn James: Advanced Modern Engineering Mathematics, Third edition oe wde 24 To evaluat aS (a) Te evaluate L (x? + 1)%(a? + 2a + 2} we use the semicircular contour Con the upper half plane (see problem 65). The integral along the curved portion —+ 0 as the radius of the semicircle + 00. ‘The residues in the upper half plane are at the (double) pole at j and the (simple) pole at —1 49. 2 Residue of CopapaGegieay 7 95-1 at x= j. This is (after some algebra) 2 evaluated 2) 100 Residue at z= —1+j is evaluated at » = —1 + j whieh is . TS Gyieti+a * ; B= 49 gn of residues is —22 SS, Sum of residues is 72 * wide edz ogg ath _ Tm | @rip@ tat) J. ree taetay) “io ~ mo 24(b) To evaluate [ ae one can either use a quarter circle contour (as in a lem 65(h)) or note that, b tay, fa Fe a uso th problem ornote that, by symmetry, f 5 = 4 J rote and use the same semicircular contour as above. The disadvantage of doing this is that there are two poles inside the semicircular contour, but only one in the quarter circle. However, this is compensated by the easier manipulation of the integral. We shall thus use the semicircle, ‘The poles inside C’, both simple, are at x= V2(-14 9) and 2 = V2(1 +3) ‘The way to avoid unnecessary arithmetic/algebra is to determine the residue at 29 where 29 is one of the above poles. This is given by in, [=] 2420 244 16 Since 2 = 29 is a root of 24 + 16, we can use L’Hépital’s rule to obtain Residue = © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 75 Sum of residues is thus 1 + 1+9) 4v2(01 +3) Ay Av? ‘Thus ; ; wdw 2dr _ op _t tM, oo +16 Jy 2+ 16 a2 4 Hence dete -™3 ) +16 8 24(c) To evaluate | in? a0 5 + 4c0s6 a o dz sin? we follow Problem 65(d) and put 2 = 6 so that = dé and ———— = ge 5 +4cosé sin?6d0 if =-1 5+ 4c0s8 49 Jo 22022 + YGF 2)~ where C is the unit circle. Residues at x= 0 and 2 =—4 (not that at »=—2) are summed, Residue at > is (25 =—~) [evaluated at 2 = 0] is *. Residue at sin? 0d0 13. lin lo «5 + 4cosé 24 24(d) The integral | C0320 ay 5 —4eos8 3 © Pearson Education Limited 200476 Glyn James: Advanced Modern Engineering Mathematics, Third edition is evaluated similarly t cos 26 wut Atl ly (175) _ lon fy B—dcosd” 2) J 528 22d 92 VG a) (In part (c) the negative sign arises from the choice of direction of the line integral. 23 sin29 Since the integrand Fo eosd 5+ deos is always positive it can be ignored.) © Pearson Education Limited 20042 Laplace Transforms Exercises 2.2.6 # Ufa) Lfeosh 2#} = EF (e% + e-*) 1(b) 6{P}= 5 Re(s) > 0 Ate) £1348} = —_. Re(s) > -1 7 1d) C{te er =2a) 5 (b)-3 ()0 (d)3 (2. (fh 90 (g) 0 (bh) Oo 6G) 2 Oi) 8 = 3(a) ef5—a4} =? » Re(s) > 0 . 6 3 42 6 e473 — 2 sii =7.— —2. = 3) C7 — 2sinst) = 7 2.505 = erg: Fels) >0 3 2 ds _ 9 382 a B(c) {3-2 +deosa}==-F+4 aap Pele) > 0 3(d) L{cosh3¢} . Re(s) >3 3(e) C{sinh2t} = © Pearson Education Limited 200478 Glyn James: Advanced Modern Engineering Mathematics, Third edition 21 5 3 BU) Cte 4 B— 2eost} = 5 + 257, Rols) > 0 B(e) C{4te~?! Res) > —2 3(h) c{2e-sinaey - 4, 4 ets) 3 3 (843) +4 8? 468+ 13° Bi) Cfen#} => Res) > (s+ 498 50) 36 6 4 2 3324 gp oy 6 2 {68 — 3 +4t— = F- Stans _ 2 968 = Bass I a 28 | Rels) > 9 8 3 2s +15 3(k) £{2c0s3t + 5sin3t} — Was +a Tg > epg: Pals) >0 3() . L{cos 28} = ey L£{tc0s 2t} --41 a = aa a(n) L{tsin3t} — -£ 3 > dy 65 L{t sin Bt} = alaesopl = 18s? — 5d - ero Re(s) > 0 2 3s 2 3cog4t} — Bin) £{t Boost} = — ig. Res) > 0 © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 79 3(0) - ) 3 chet 2443 St) 3 {Pe — e "cos 2t + 3} = wie (e+ dts 2 stl 3 ee R Q (+22) Pe oe45 8 e(s) > Exercises 2.2.10 at 1 cpap a "4@) MG rpesnl =o bs +5 4(b) cog 87? ) Naw a wo eMgtaty- yt ts < s(s+3)i— s+3) 9 3) 9” -1Pee8y ob + Soins 4(a) eats _ = 0 ap +3. ppp} = Boose Bin 4(e) , 1 1 a cope a6 yep ig Gt 2 =44-1 nate 1 ie in 4¢] “ie on a s+2)+6 o a(t) ae 2*[oost-+ 6sin 4(e) } (s+ 2)? + 2? _1642)~ 3) 3(2) } sin 2t] 2t cos Ot + Be~ © Pearson Education Limited 200480 Glyn James: Advanced Modern Engineering Mathematics, Third edition 4(h) 1 ds ao 1 2 £ {Goperie! 6 (a Gent Grp? = #4 Otet a pcap 8+ (s +1) +30) bee . 4) o£ {; os pes Git [cos 2t + 3sin 2t] 4(i) : Sa Ts+5 —Dls— Hs ala s 3) 4(k) ca 5s—7 aot Grays sa)! st3 = 26% 4 Des Vt 4 sin Vt v2 40) rs iis=2 4 ON Grae ssa! 5s? +2st2! -i@tb-3) 5(s+1)?+1 1, 14 . = ce! — Le “(cost — 3sin#) 58 — sol — ptg BHD 2 te gon gina 4(m) ¢ Passel (Soap! = (cos 2t — sin 2t) 4(n) © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 81 4(0) 4(p) ot 36 eet 38 3s c (eanesa! 6 {5 +1 + ayo} 9 2 4(a) 1 2s? +48 +9 }- (s+ 2)(s?+3s+3)7 — 3 =o 9 Tst $)—v3.v3/2 s+2 (s+ 8+ (va/ay? et — /8sin ~ 4(r) 1 ! peop bbe thy (s + 1)(s + 2)(s? + 28 + 10) s+l s+2 gs? 428410 s+10 alerirelt ale De eo} (s+ 1)? +3? e~ (cos 3t + 3sin 3t) © Pearson Education Limited 200482. Glyn James: Advanced Modern Engineering Mathematics, Third edition Exercises 2.3.5 = 5(a) ay yiey 1 as+5 (8+ 3)X(s) =2+ nn 2s+5 1 1 X(9) = Gea s3) std a8 a(t) = £1 X(s)} =e pee 5(b) 7 2 8? 46 (88 —4)X(8) 14 So ag 2 +6 368 + 36 X) = aie a) > eta A 3 2 w(t) = £-1{X(s)} = et — yg (eos 2 + 3 8in2t) 5(c) (3? 4 28 + 5)X(s) = : 1 1 st+2 X= [ep aeps) 8 Ba ReTB _ 5 1s+)+32) os 5 (s+ i242? a(t) = £-1{X(s)} = el — 7 cos 2 — 5efsin2t) 5(d) ds _ 2s? +4 +8 a 2s? + ds +8 (s+ 1)?(s? + 4) 6 (s? +28 + 1)X(s)=2+ X(s) = + 5 a(t) = £-{X(s)} = © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 83 5(e) _ tev bat Tt Foe a(t) = £{X(s)} = ae got 3° 5) 2 3 (s° + 4s 4+ 5)X(s) = (ds —7) + 16+ s3 X(s) 4s? 4 17s +21 3 (s+2)4+1 OM (s+ 2)(s? f4s +5) s$2° (s$ 2/41 a(t) = £711 X(s)} = 8e77 + e cost +e sint 5(g) ote ayia — 52) (s°+8—2)X(s)=s8+ th yaaa 8° +38? 479+ 15 X(8) = Gy aye 1? +28 5) 3 s+2 _ 1-(s + 1) —3(2) ~ i+ alepee a(t) = £-1{X(s)} = -5o" + Be + fof cos2t 4 ~ sin OF © ‘© Pearson Education Limited 200484 Glyn James: Advanced Modern Engineering Mathematics, Third edition 5(h) 2 . 3 (s° + 28+ 3)¥(s)=1+4 2 2 ¥(s) 243 2 = 5, y(t) = CUY(s)} = +t+ 5e-*(cos /2t + sin V2t) 3 3 V2 5) 1 P+ 4s + 4)X(s) = (s° + 48 + 4)X(s) yy s°+6st+ 1088 +ds+8 X(8)= 2s8(s + 2)9 a(t) = £+{X(s)} = : - att Tet oo 4 pete stem 5(i) (9s? 4 128 4 8)X(s) =} Iep 4 X(s) = __ ss +is ®) + 3eet Bis bay? + (GP 1 2 1 1 a(t) = £7{X(s)} = zo ge 8 (cos gt + 2sin ot) © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 85 5(k) 2. 1 4 6s 16s + 32 2 16)X(s) = —Ss+ 1-44 16. = (s? + 8s + 16)X(s) ast +16 ae 3s? + 16) ~ 6s? ~ 16s + 32 X(s) = (s) (8 + 4)? __0 1 std" (st4p a(t) = £-1{X(s)} = te 4 — 5 cost 50) 1 24 19 76) = 9 (98? + 128 + A)V(s) = {8 + 1) + 12+ 9s? + 30s + 22 y(s) = 28 7308 $22 ) = Gey arr) -t,_ 8 , ~ stil’ 3s+2° (3842)? y(t) = LY (s)} = et + te 3! 5(m) cay 88 = 28? + 28+ 1 X9) = S62 D 5 2 _ il 4B os s-1's-2 stl — etry — a tet Det 2 t a(t) =£ {X(s)}= 7 + 5t e+ pe 3° 5(n) 3432 Na (st)t1+5o— (+s? +841) =(s+1)+ +209 X@)= S428? 4108+ 18 _ 17-25 1 s+9 ~ (2 +9)(stils?+l) stl Ws? +1 80s? +9 a(t) =} a9 ,t Ft 25 int — + cosst — 2 ei a(t) = £UX(8)} = 55 7g Cost t 7g Sint — 55 cosat — 5p sinat © Pearson Education Limited 200486 Glyn James: Advanced Modern Engineering Mathematics, Third edition = 6(a) 2sX(s) — (28 + 9)¥(s) = (2 +4)X(s) + (ds —37)¥(s) = 1 Eliminating X(s) 1 1 [2s +9)(28 +4) ~ 2s(ds — 87)]¥(8) = (—5 + Ppp) Rs +A) ~28 = 38 pe) s _l, 8 YS) = 2-488 436 4 @—3)@—1) y(t) = £NY(s)} = 5 a Eliminating = from the two equations ay 98, — + Gop + An — 28y = aly e-2 — 6 ft = x(t) = aL e+ 28y — 6 ie. a(t) = Fi 6(b) 5 (s + )X(s) + @s—D¥(s) = Bo 1 (28 + 1)X(s) + (88 — DY(s) Eliminating X(s) 5 stl 2s4 1) — pi Pst) 4 [2s = 12s +1) — Bs — (s+ DIY(s) = 108 +5 stl Ys) = [24 tid) sls — 1s —2) 5 ] 5 2 sti ts s s-] 2t = c-lry(s)} = 2 4 bet ssint— y(t) = £HY(s)} = a+ 3 5sint 5 = 34% + det —5sint 3 t= + 2e! 3° © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 87 Eliminating $7 from the original equations a Ete y= Wsint et a(t) = 10sint — ef — 3+ e% + 2e' — 5sint — 2c — 2c! + 5 cost = Ssint + 5cost —3—e! —e* 6(c) 1 3s + 10 2 ” = SS (+ 2)X(9) + (e+ N¥(e) = 34+ 4 = STE 5 4s +13 5X(s) + (¢+3)¥(s) =44 st2 s+2 Eliminating X(s) » 15s + 50 —4s” — 10s + 11 ~(s+2 a e450 _ was’ = 10s 11 [s+ 1) ~ (s+ 2s + 3)¥(s) = > 4s + 18) <3 ny) _ 48° + 108 — 11 gsi YO)= BER 41) st3) P41 9 ylt) = 2MV(s)} = Fe + 5 cost F sing From the second differential equation 3 QT 21 3 p= bet 4 Bae 2, mt— 3e-3t bw = be + 5 3 cost +S sint — 5e 9. 7 + asint + pcos a(t) = 3sint —2cost 4+ e-* 6(d) (8s — 2)X(s) + 38¥(s) 6 + 1. — 884 s-1 -1 eX(s)+ Qe—¥(s) =34 4 = 3841 ss © Pearson Education Limited 200488 Glyn James: Advanced Modern Engineering Mathematics, Third edition Eliminating X(s) [352 — (Bs —2)(28 — De) = 088) _ Be 2)G9 + sl s 9s? — 38 6s? — 5s sas —D(s— 2) (s— H&s— H(s—2) Y(s) = u(t) = £-MY(s)} = le Eliminating a from the original equations t a(t) = Hee 34 Ses Beh t 3 — Se role whe Ge) bs _9 vis) = -14 2 4 38 (8 -2)X(s) +9¥(8) =-l+ 5 tay 8 += = 2sX(s) + (s+ D¥(s) = 1+ Fa17= SH tl etl Eliminating Y(s) [(8s — 2)(s + 1) — 2s?|X(s) = agi" +584 2)(s +1) —(-s? +s)s] 3s? 4+ 7s +2 3541 X@)= Gyo et) ~ Gea 2s—1 +1 x(t) = €-1{X(s)} = 2e* — 2cost + sint © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 89 di Eliminating t from the original equation de dt = —2sint —4cost — de! + dcost — 2sint + 2e' + 2sint + cost y(t) = —2sint —4cost — 2x + i.e. y(t) = —2e' —2sint + cost, x(t) = 2c! — 2cost +sint 6(f) 8X(s) + (8+ DY(s) = (8 + 1I)X(s) + 48¥(s) = Eliminating ¥(s) las? — (s+ 1)°IX(s) =4s(% 24) — a(t) = C-HEX(e)} = 3-4 ef 4 3078 a Eliminating ot from the original equation yo tfe-1t2 +38] t = flat 1-3 tes 3en8 3 — Bet + 3e73] t t Le. y(t) =t— — fete beS, a) - a4 43e$ 6) 7 7 (s+ 7)X(s) +3e¥(e = By TMT es 2 Moi (58 + )X(s) ~ Bs 6)¥(8) = 3 — M_ i is © Pearson Education Limited 200490 Glyn James: Advanced Modern Engineering Mathematics, Third edition Eliminating ¥(s) [2s + 7)(8s — 6) + (5s + 4)(38)}X(s) = alles ~ 6)(14 + 78) + 38(14 — 1s)] 2U(s? 48 —2)X(s) = 2s + 2Yls— XL) = s? 428-4) —s?+2s—4 X() = BF HG- 1 eat, 1 9,2 ~ 8-1) st+2' 8° 8 x(t) = LX(s)} = —ef +e 4 ao dy con . Eliminating %/ from the original equations da: 6y = 28t —7— llx—7— Y ot = 28-74 Te! + de — 14 + Le — Le! — 20¢ ot » w(t) = ef +e 4 Ot 7 1 giving y(t) = at Beh 4 5° 6(h) (s? £2)X(8) —¥(s) = 48 —X(s) + (s? + 2)¥(s) = 28 Eliminating ¥(s) {(s? + 2)? — 1] X(s) = 4s(s? + 2) + 28 (s4 + 4s? + 3)X(s) = 4s" + 10s - 4s +108 3s 8 X= yw +s 241 SH a(t) = £L-'{X(s)} = 3 cost + cos V3t From the first of the given equations 2. a y(t) = 22+ a = Geost + 2.cos V'3t — 3 cost — 3 008 V/3t Le. y(t) = 3cost — cos V3t, 2(t) = 3cost — cos V3t © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 91 > > : 83 (5s? + 6)X(s) + 128?¥ = [2 +12) = s 35 99 EP + 16] = 7 6G) 58?X(s) + (16s? + 6)¥(s) = Eliminating X(s) [60s" — (58? + 6)(16s? + 6)|¥(s) = 5183668") —99(58? +6)] [-20s4 — 126s? — 36)¥(s) = Fi-80s? — 594] vy. 8(408? + 297) V(s) = 72) elds? +3) 2 * Tos? +3 ~ 32 +6 ult) = 2M Y(a)} = —1 008 VEt-+ 2008 Eliminating “ from the original equations We 2, sr = ay +38 ~ $) cos [at (3 +3) cos vit 3,3 a 5 3 i = cos ,/ * cos Vi = cos yf ine, w(t) = cos yf Tht + 7 608 Vb, a(t) = 7 cos 6(i) (2s? — s+ 9)X(s) —(s? +64 3)¥(s)=2(s+1)-1=284+1 (2s? + 8 + 7)X(s) —(s?— 8 + 5)¥(s) =2(s+ 1) +1= 2843 + cos Vet. 7 cos Vt. Subtract (8) — (Qs — (8) =-2 + X(s) +¥(s) = = ; = a(t)t+y(t) =e (—2s + 2)X1 Add (4s? + 16)X(s) — (2s + 8)¥(s) =4(s + 1) Ast 2x(a) —¥(a) = 78 + 2 > 2x(t) — yb) = 2cos 2 + sin 2t (ii) © Pearson Education Limited 200492. Glyn James: Advanced Modern Engineering Mathematics, Third edition ‘Then from (i) and (ii) x(t) = a + cos 2+ zm 2t, y(t) 1 cos 2t — = sin 2¢ 3 Exercises 2.4.3 a7 1uF=10-°F so 50¢ =5.10°F Applying Kirchhoff’s second law to the left hand loop 1 f, diy din, 5.108 fiat 42g ~ gy) = B.sin Loot Taking Laplace transforms 2.104 s 1i(s) + 28{h(s) — b(9)] = Bape 0) which on taking Laplace transforms gives shi(s) = (50 + s)o(s) (ii) Substituting in (i) +s? 2 ols) 50s? (10* + 8°)(50 + s)Ia(s) ~ 8° Ins) = Bes oa (5? + 2005 + 104)h(8) = Sapa 8° As) = “Lesion pio then from (ii) fy(s) = Bl s(50 + s) ] (s? + 104)(s + 100)? © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 93 Expanding in partial functions it) 1 hs) = 2, 008 als) G+ oo? * +10 ig(t) = £"{Ia(s)} = BL-yge + Aten 100 = cos 100¢] = 8 Applying Kirchhoff’s second law to the primary and secondary circuits respectively gives diy di . Qi + ze + |e = 10sint Taking Laplace transforms (s+ 2)h(s) + sh(s) = sh,(s) + (s+ 1)lo(s) =0 Eliminating Iy(s) [s? — 2(s + 1)(s + 2)|a(s) = =— 10s 10s 247846) (2 + 1)(s + 6)(s +1) BO ariys - fa(t) = £{La(s)} = = 9 Applying Kirchhoff’s law to the left and right hand loops gives d (i + #2) + ga + ig) + 1 fiat = Ey =10 dis n+ Bi f nao © Pearson Education Limited 200494 Glyn James: Advanced Modern Engineering Mathematics, Third edition Applying Laplace transforms 1 10 (s+ LDli(s) + (8 + Lye{s)+ ils) - > 1 (s+ DH(s)— hls) =9 > Lis) =sls + AIs) (i) Substituting back in the first equation s(8 + 1)°fo(s) + (6 + Ia(s) + (8 + Dho(s) = ® 10 s(s + 1) 10 s(s + I)(s? + 8 + 2) (s? 4.8 4+ 2)Io(s) = In(s) = ‘Then from (i) = 10 Applying Newton’s law to the motion of each mass #, = 3(xq — 21) — a = 3x2 — 424 o = —9ny — 3(x2 — m1) = — 1222 + 3x4 giving 1 4 dry ~ 3x = 0, x1(0) = 1, x2(0) =2 + 12xq — 3x, =0 ‘Taking Laplace transforms (s? +. 4)X1(s) — 3Xo(s) = -s —3X1(s) + (s? + 12)Xo(s) = 28 © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 95 Eliminating X2(s) [(s? + 4)(s? + 12) — 9]X1(s) = —s(s? + 12) + 6s (s? + 13)(s? + 3)Xy(s) = —s° —6s 8868 a8 ~ (s? 4 13)(s? 43) 8243 Xi(s) a(t) = 671654 (s)} = — 2 cos V3t— cos VIBE _ 10 10 From the first differential equation 3a = dey + 6 is, 14 9 91 =, 2 Bt — — cos 608 V' cos \/ 5 cos VBE 5 cos Vv 13t + qo COS V8t Tp fO8¥ 13t n9(t) = wet cos VI8t — cos V/3t] Thus x1(t) = ~ {p(B eos VIE + Te0s WTR), x9(t) = jpl2toos vist — cos V3#] Natural frequencies are \/13 and \/3. = 11 The equation of motion is Mi + bi + Kx = Mg; x(0) =0, &(0) = V2gh The problem is then an investigative one where students are required to investigate for different h values either analytically or by simulation. = 12 By Newton's second law of motion Moits = —Kyx2 — By (2 — #1) + ue Miia = Bi(ég— a1) — Kir. + ‘Taking Laplace transforms and assuming quiescent initial state (Mgs? + Bys + Ka)Xo(s) — BisXi(s) = Urls) —BysXo(s) + (Mis? + Bis + K1)X1(s) = Ui(s) © Pearson Education Limited 200496 Glyn James: Advanced Modern Engineering Mathematics, Third edition Eliminating X\(s) (Mis? + Bis + Ky)(Mzs? + Bys + Kp) — B}s?|X2(s) = (Mis? + Bys + Ky )U2(s) + BrsUi(s) . _ Bis (Mis? + Bis + Ki), ie, Xo(s) = A—Uils) + a Ua(s) 2 and r9(t) = £-'Xo(s)} = et BBs) + eT Be BV Gai} Likewise eliminating X2(t) from the original equation gives Whs + Bist yy 4 Bisyy¢)) a(t) = UX (s)} = 1 (5) 4+ vals) Exercises 2.5.7 a13 f(t) = tH(t) —tH(t— 1) = tH(t) — (t— 1)H(t — 1) — 1H 1) ‘Thus, using theorem 2.4 LF} = oe dy pay le - ee = Sle") = 14(a) f(t) = 30° H(t) — (30? — 26+ 3)H(t — 4) — (2t — 8) He —6) = 31° H(t) — [3(t — 4)? + 224 — 4) + 43] H(t — 4) — [2(¢ — 6) + 4JH(t — 6) Thus 6 2 {FD} = Ge BEBE + 224 + 43] — eC I2t + 4] 6 6 2 43) 4, 4) Ge mg latatgle™ [ate © ‘© Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 97 14(b) f(t) =tH(t) + (2—2t)H(t — 1) — (2—t) H(t — 2) = tH(t) — 2(t— 1)H(t— 1) — (¢—2)H(t 2) Thus HO} = BRM MELE = si — 28 +e] = 15(a) ete pla = £-Me-®F(s)} where F(s) = ao and by the finst shift theorem foe = LNF(s)} = iite 2t ‘Thus by the second shift theorem = f(t—5)H(t—5) it ~ 5-9) (5) 15(b) onary! = CMe F(s)} where 3 PO = Gaaesn > F(t) = £-F(s)} = Set “a 3e7%* vo payeen! — ete) - bon — MD) 2) 2 15(c) cae e*} = £-Ne-*F(s)} where F()=tt -1,1 841 s(s2t1) ss? s?41 f(t) = £7 1{F(s)} = 1+¢— cost —sint © Pearson Education Limited 200498 Glyn James: Advanced Modern Engineering Mathematics, Third edition so e*} = f(t-1)H(t-1) = [1+ (t— 1) — cos(t — 1) — sin(t — IJ A(t — 1) = [t — eos(t — 1) — sin(t — 1)| H(t — 1) 15(d) est en} = = £-Ne-™ F(s)} where stl (s+p+ Fs) = rsey ors 24 gP f(t) =e ~2{ e053 Sey za iy so sol omy =o aot [veo Fn) + sin 2 — my.) -1 (aeeai* WO) CN ggg} = ees) where S(t) = £4 F(s)} = cost PO) = 25 so ett 8 entre) (e-“™)ne-*) 3? +25 ‘ 5 5 = cos(5t — Am )H (t — ; An =cosSt H(t) 2) F(s)} where aghy P= ole 15(f) 1 1 1 P)= Sie ya) 2 ed f(t)=£-4F(s)} =t—sint © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 99 L-1{(e~* — e**) F(s)} =f(t — A(t — 1) — f(t — 2) (t - 2) =[(t— 1) -sin(t — 1)JA(t— 1) —[(t- 2) —sin(t — 2)] H(t — 2) de #16 traf), LIPO} = e7* — se78) Taking Laplace transforms with x(0) = 0 Taking inverse transforms x(t) =—1l+e*+#-(t-1)H(t-1) +(- 1). - H(t-1) +(t-1) fort<1 for t>1 Sketch of response is x (e) u “e © © Pearson Education Limited 2004100 Glyn James: Advanced Modern Engineering Mathematics, Third edition Pr de . 817 Gat a te= g(t), 20) =1, #0) =0 with £fg(t)} = 5-2" be) ‘Taking Laplace transforms (s? +s + 1)X(s) =stl+y d= 2ent +e) s+ 1 x(s)-_— St es pes (s) @teth | eter! ete) (s+) loi a “ersty (bet et eyacall- eee) Ctpt we = va 2 a i —2eF +e] v (s+ ah +($) 1, v3, 1 (3. r(t) = L-1{X(s)} =e 2 (cos » int a(t) ft gsin 9) 1 ey 5 Sto B ms Se Te sin 8) 2H yfe- abe at fos 44 (@-1) are V3 5 +H —2)[t 24 BP 008 Be 2) 1. v3 ] — asin" (t-2 vain | )} ie. 5 cog VE, a(t) = 2e~ 2’ cos St t—1 B 8 — ante ayft 24 HOM foos Bee 1) sin See 1)] 2 va 2 2 v3 +Ht-2)[— BE ena {cos “S(t —2)— >} © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 101 =18 H(t) = sintH(t— 5) = 0s (t— S)H(t-5) = since cos (t — >) =sint. ‘Taking Laplace transforms with (0) = 1,4(0) = — (6? + 88 + 2)X(s) = 9 +24 £{cos(t — Sal - a 8 leaner ae rn! i st3y *i0" a4 sey leet + 3sint)} so x(t) = £-MX(s)} =e? + [- SOD Bees 5 + 3sin (t So] ae n) 2 sets [sint — 3 00st + 4e* 10 #19 f(t) = 3H(t) — (8 — 2t)H(t— 4) = ane) + 2(¢ — 4)H(t—4) LEP} = oy 2e~**L{t} = 4s 3 st Taking Laplace transforms with “) =1, #(0)=0 (s? + DX(s)=s+ : + fet X(s) 8 +1 8 yl 3 5 + 2e~4*C{t — sin t} sh © Pearson Education Limited 2004102 Glyn James: Advanced Modern Engineering Mathematics, Third edition ‘Thus taking inverse transforms 2(t) =3 —2Qcost + 2¢ — 4 —sin(t —4)) H(t — 4) = 20 6o + 68 + 1069 = 6; () 6.(t) = 3H(t) — 8H(t — a) 33 ae 3 _ as 80 £{0;} = ~~ Se ** = “(le Taking Laplace transforms in (1) with 9 = 4) = 0 at t=0 (s? + 68 + 10)o(s) = 20 —e*) ZED ] s(s? + 6s + 10) — 3) -asypl — (8 +3) +3 =o OL, — Ge aeed! G(s) = 311 — &**)[ Bt at 3 —as\ 7 — ao = —(1—e-**)£[1 — e* cost — 3e te a sint] ‘Thus taking inverse transforms 3 —3t Bt oe o(t) = ot —e*! cost — 3e* sin t] H(t) 3 ~qglt- oe —4) cos(t — a) — 3e S¢— sin(t — a) JH (t — a) If T >a then H(P) = 1, H(T —a) = 1 giving 3 O(T) = zg" cos T — eT) cos(T — a) 3 — pe” sinT — 3e-*T- sin(T’ — a) 3 10 T {cos T + 3sinT — e*|cos(T — a) + 3sin(T — a)]} 221 o.(t) = f(t) = (1—-OHW) —(A-HNHt- 1) = (1-H) + (t- DA(t- 1) © Pearson Education Limited 2004Glyn James: Advanced Modern Enginecring Mathematics, Third edition 103 1 Fora! -3___ s+4 (s+4) which on taking inverse transforms gives 1 a(t) = L7*{Bo(s)} = gg ld — 2t— Be“ — L0te 1 ( aay 14+ 2(f-— 1) +e) 4 a(t - 1) 1 — 3 — 2t — 3e~"* — 10te™ 1 } + gg Rt-3+ (2t — Ye YA - 1) = 22 ek) e, 1 ' ' ' = ' ie ' , 1 1 1 te ° t, t, elt) = eoH(t~t1) — eal (t ta) Lfe(#)} = Sle — en") © © Pearson Education Limited 2004104 Glyn James: Advanced Modern Engineering Mathematics, Third edition By Kirchhoff’s second law current in the circuit is 1 rise f dt =e which on taking Laplace transforms ven by then Sketch over one period as shown and readily extended to 0 <# < 12 © © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 105 fi(t) = 3tH(t) — (3t — 6) H(t — 2) — 6H(t — 4) = 3tH(t) — 3(¢ — 2)H(t — 2) — 6H(t — 4) Ltn} = Fils) = 3 Be Se a ee ‘Then by theorem 2.5 {FO} = Pls) = a 24 Take t O7 then f@) = RH) ~ MH —T)= SiMe ~ Ka ~T)H(t—T)- KH(t-T) _ aK pr Kar KK ary Ker ALA) = Fils) = pep Oe = pgs le) Se Then by theorem 2.5 - 1 K LUPO} = F(8) = ar Fils) = Fa — Exercises 2.5.12 = 25(a) Ce ee a) (s$2)(s+3) ~ (s+2)s+3) ~ st2 843 2s? $1 = _ 20 19¢-% (apaera! = 26(t) + 9¢ 19¢ © Pearson Education Limited 2004106 Glyn James: Advanced Modern Engineering Mathematics, Third edition 25(b) eat 5 # on era ct Cah a(t) )~ Bsn 2¢ 25(c) +2 2843 2+ 2st5 — 428th (s+ 1) + 1 Casape rd 1 got _ ot 1. arr 5(t) —e* (e082 + 5 sin2t) 2 9 = 26(a) (s° + 7s + 12)X(s) =F +e 2 X(s) = 1 SGT DCTS) tle Dery tootkg- 1 a8 s+4 s+3 s+4 12 ae Lae —a(e2) _ ,-a(e-2) 9 a7ge. +3e )+(e e )H(t — 2) 25 oe ion x(t) = £-'{X(s)} 26(b) (s? +68 + 13)X(s) =e?" 1 X(s) = (s +3)? 42 enone = etree {te sin 2t} 1 so a(t) = £-*{X(s)} = ae sin 2(t — 2).H(t — 2) 1 = gene sin 2t.H(t — 2m) © Pearson Education Limited 2004Glyn James: Advanced Modern Enginecring Mathematics, Third edition 107 26(c) (s? +78 + 12)X(s) =s+8+e* Pao s+8 1 eo x)= Graesa t Graal 75 4 1 1 1 35 =[Sy57 seal tga saad x(t) = L7"{X(s)} = 5e7*t — det + [e9) — eA) At — 3) = 27(a) ft) ue 4 5 Generalised derivative is f'(t) = g(t) — 436(t — 4) — 46(t - 6) where 6t, O6 © © Pearson Education Limited 2004108 Glyn James: Advanced Modern Engineering Mathematics, Third edition 27(b) 4s 1 ° 1 2 3 € 1, O4 © © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 109 = 28 (s? 47s + 10)X(s) =2+4 (3s + 2)U(s) 5s +6 X(8) = a6 5) a(t) = LX} = Pe Ste Dee = 29 f(t) = z d(t — nT) the F(s) = £{f(0} = Setar ~nT)} = Sent so n= oT ‘This is an infinite GP with first term 1 and common ratio e~*? and therefore having sum (1 —e~*?)-!, Hence 1 PQ) = ar Assuming zero initial conditions and taking Laplace transforms the response of the harmonic oscillator is given by (s° + w?)X(s) = F(s) = ——_ e+ are) 2, 1 -sT 27 ort [Ite +e +. ]C{— sin wt} giving x(t) = £-'{X(s)} sinw(t 20). J or a(t) = + $ H(t — nT) sinw(t — v7). wm sinwé + H(t —T).sinw(t — T) + H(t — 2T) w © Pearson Education Limited 2004110 Glyn James; Advanced Modern Engineering Mathematics, Third edition 1 ne pL A(t =>) sin(wt — nz) n=0 1 2 == [ia wt — sinwt. H(t") + sinwt. H(t) + | w w w and a sketch of the response is as follows: $0 3 a ax ° Wo is = ex =e 29(b) Qn 1< mi =Car 221) Sin(wt — 2nn) wh w 1 id 4n = = {sm wt + sin wt.H(t— —) + sinwt.H(t- =) 4 w w w and the sketch of the response is as follows xt) % Ms me my eh © © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 111 = 30 The charge g on the LCR circuit is determined by a dg 1 weit +o4 e(t) L at where e(t) = B4(t),q(0) = 4(0) = 0 Taking Laplace transforms (Ls? + Rs+ Bm = L{E6(t)} = B E/L E/L Q(s) = 4 O” Fr Estie G+ B+ B/L R =7 Paws (s+ 1)? +9? aL fi. VIG” ap Thus g(t) = Be “sin nt E and current i(t) = q(t) = Tye (nos nt — josin nt) ” Exercises 2.5.14 «31 R, fe—____2 rs j<—_4—_> { w M . 1 Load W(x) = —-H(2) + W5(x — 3) ~ Ryd(x), where Py = 5(M +1) so the force function is W(a) =- having Laplace transform (M+W) 2 M j2 W)= 7 +Weo/? © © Pearson Education Limited 2004112. Glyn James: Advanced Modern Engineering Mathematics, Third edition Since the beam is freely supported at both ends j2(0) = y(l) = yo(é) = 0 and the transformed equation (2.64) of the text becomes _1fM w goto (MAW) 1 Y@)= ale sf 2 A ‘Taking inverse transforms gives —ilfim, + ba Qe W0)= a7 7 + iW 3) A(x 3) Sale + Wa 1 + (O)e + Eya(0)2* form > (2) = Lyi Mia, aw -5'- 1 M+ Ww) + (oe +4 (0)2* w@)= Blagg? t gM 9) ~ pl a8) + (Oe + gus(0)x 1M > 1 we) = 35 [5 a + W (2 SOM We] = an(0Ve yo(0) =0 then gives ya(0) =0 and y(€) = 0 gives we} + (Oe so y(x) = . feu +8W(2— SPH (2 5 —4(M + Wo + (2M + awyes| © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 113 = 32 ty so the force function is W (@) = w(H (ae — 21) — H (a — 22) — w(e2 — 21)8(2) having Laplace transform with corresponding boundary conditions y(0) = 910) = 0, yo(O) = y(t) = 0 The transformed equation (2.64) of the text becomes (v2 — 21) ye(0 _ 1) 4 20) 3 8 which on taking inverse transforms gives il (a) = Eli (@ For 2 > a , 2 5 y(2) = xiae ty! - rp — a4)2°°] + nO> + ys (0) yo(x) = = [ae 2%)? - cee = #2)? = (x2 — 21)2] + y2(0) + se use) = er [(e = 21) — (@ 2) ~ (12 — 21)] +480) + ys(0) =0 © © Pearson Education Limited 2004114. Glyn James: Advanced Modern Engineering Mathematics, Third edition The boundary condition yp(¢) =0 then gives 0= eT ie — 2x, +22) — ze — 2bxy +23) — 120 + il] + (0) = 1n(0) = oan y(x) =sinT [(w — 21)*H (a — 21) — (w — 22)*H (a — 22) — Alay — 21) + 6( 1) When 1 = 0,0 =, max deflection at x = ¢ w wl! = ae gee — el thon = Sp ll — 4+ 6} = = 33 ——_t— a R <—— b—> Load W(x) = W6(x —b) — Rid(«), Ri =W so the force function is W(x) = W5(a« —b) — Wi(x) having Laplace transform W(s) =We-™ —W with corresponding boundary conditions y(0) = y1(0) =0, yo(0) = ya (2) = 0 The transformed equation (2.64) of the text becomes Wy _ 20), ys(0) ro ]+ 2 0)> + yO © © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 115 For 2 >b 1 x jay EO 8)? — Ga") + ue(0)> + 4a (0) yo(r) = r [(a = b) — a) + yo) + ys (Oa ysl) = —F 1] + ws(0) + ye(0) <0 Using the boundary condition yo(¢) = 0 o= Cn) ue(0) > wo = —Nt giving vay = We ey _ ep 0-2 O0, a-(f5 Pa | >0, do=asda>0 so the system is stable. © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 119 37(c) sits? +s+1=0 R-H determinants are A; =1>0, Ay =0, Ay =1A,=0 toi 1 Thus system is marginally stable. This is readily confirmed since the poles are at 37(d) 24s + 1157+ 268? + 455 + R-H determinants are a;=11>0, a0 |i <0 5 so the system is unstable. 87(e) s8+2s7+2s+1=0 R-H determinants are 23 Ar =2>0, Ax= |; 2 | =1>0.a9=1ae>0 1 /3 and the system is stable. The poles are at s = —1, = — 4 ry confirming the result. x 38 mas +e R-H determinants are ; m, Kyre> 0 de + KE + Kre = >0 com Kr K Ag = KrAg > 0 provided Ay > 0 ¢ = cK —mKr > 0 provided r < — m ‘Thus system stable provided r < © m © Pearson Education Limited 2004120 Glyn James: Advanced Modern Engineering Mathematics, Third edition = 39 oo. si+ 2s? + (K + 2)s?+7s+K=0 ag. ag a, ao R-H determinants are Ar =| a3 |=9>0 _ jes as 2 1 | op cao eh An= a a 7 K 49) —2X—3>0 provided K > 5 @ a, 0 2 1 0 As= far a2 a3) = |7 K+2 2] =10K —21>0 provided K > 2 0 a a 0 K 7 Ay = KAsg > 0 provided Ag > 0 ‘Thus the system is stable provided K > 2.1. 240) 94 15Ks?+(2K—1)s+5K=0, K>0 R-H determinants are A; =15K>0 IbK 1 K (2K —1) Ag = 5K Ap > 0 provided Ay > 0 Ay = 30K? — 20K 2 Thus system stable provided K(3K —2)>0 that is K > 5, since K > 0. = 41(a) Impulse response h(¢) is given by the solution of Ph dh Gt 18g + 56h = 35(t) with zero initial conditions. Taking Laplace transforms (s? + 15s +56)H(s) =3 3 3 3 GIGS) st7 STs so h(t) = C-{H(s)} = 3e~™* — 3e%* H(s)= Since A(é) + 0 as t — oo the system is stable. © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 121 41(b) Following (a) impulse response is given by (s? +85 + 25)H(s)=1 1 Hs) = (s+ 4)? 43? so h(t) = €-HH(s)} = qe sin3t Since h(t) +0 as t+ oo the system is stable. 41(c) Following (a) impulse response is given by (s? — 2s —8)H(s) =4 4 MO) = ear) so A(t) = £-'{H(s)} = ce —e ty) 3s—4 Since A(t) — oa as ¢ + oo system is unstable. 41(d) Following (a) impulse response is given by (s? — ds +13)H(s) =1 so h(t) = £-NH(s)} = ge sin3t Since h(t) + oo as t + co system is unstable. a a Pe 42 Impulse response h(1) =F = ge — Be 4 Fe System transfer function G(s) = C{A(t)}; that is 7 8 2 “Ber 972 Ber) _ st+8 ~ (st Ds + 2s4+4) Gs) Note ‘The original unit step response can be reconstructed by evaluating EN G(s).}. © Pearson Education Limited 2004122 Glyn James: Advanced Modern Engineering Mathematics, Third edition 43(a) f(t) = 2 Beost, Fis) ~~ Thus lim (2 —3cost)=2—-3=-1 ey 3 and Jim sF(s)=2~ 7 =~—1 so eonfirming the ivv. theorem. 43(b) = (3t— 1)? = 92 — i _ F(t) = (Bt— 1 = 9 — GE +1, lim f(t) = 1 18 6 1 . _ 18 6 Pls) = 3 — gt, 90 im sF(s)= lim [5- > +1] = thus confirming the iv. theorem. 43(c) = sin 2 im = f(t) =t4 Bsin2 , lim =0 1 Fis so lim sF(s) = im [1 +8, Jim, 5 a Sta at00 st thus confirming the i.v. theorem. 44(a) f(t) =143e~' sin 2¢, jim f)=1 =1 3 2 ole 6 . _} 6s cay and lim sF(s) = lim [1 + wenreal thus confirming the fv. theorem. Note that sF(s) has its poles in the left half of the s-plane so the theorem is applicable. © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 123 44(b) f(t) = #30" , jim #()=0 F(s)= and lim sF(s) = lim, [ 2 (s+2) axl? thus confirming the f.v. theorem. Again note that sF(s) has its poles in the left half of the s-plane, 44(c) F(t) =3—26-* + e* cos 2t , jim, (0) = _3 2 (s+ 1) Fi) ‘one lim s#*(s) = linn a ee 3 confirming the fv. theorem, Again “Aw has its poles in the left half of the s-plane. 45 For the circuit of Example 2.28 3.64 1.22 4.86 s s+591 s+ 149 Ia(s) ‘Then by the fy, theorem 1.28 Stet dim #2(0) = lim sho(s) = lim, [3.64 + 9.1 = 3.64 which confirms the answer obtained in Example 2.28, Note that sfo(s) has all its, poles in the left half of the s-plane. 46 For the circuit of Example 2.29 28s? OX BT IHis+ DE +H and since it has poles at s = +42 not in the left hand half of the s-plane the fy, theorem is not applicable. © Pearson Education Limited 2004124 Glyn James: Advanced Modern Engineering Mathematics, Third edition = 47 Assuming quiescent initial state taking Laplace +2 4 (7s +5)¥(s) = + 5 Y(s)= 1 s(7s +5) s s¥(s) = By the fv. theorem 4 Jim (= lim sF(6) = i 4 5 By the iv. theorem lim y(t) = y(O+) = lim sF(s)= e530 e300 ‘Thus jump at ¢ = 0 = y(0+) —y(0-) = 4 Tet” et ayters transforms gives 2 ¥3)is+5) | Ts+5 28 ) 7 Te+5 8 2s Tenb + @aaiersy | Ts 45) s 2 aye Ga Sterw Taal Exercises 2.6.8 = 48(a) ¢ Ff « g(t) f 7 cos(3t — 37)dr 0 = [-Jrsin(s —3r)+ ; cos(3t — 3r)] = jl e083) rt g* f(t) | (t— 1) cos3rdr 0 t. T 1 = [}sin3r — Fsin3r — 5 cos 37 © Pearson Education Limited 2004 é 1 g(t — cos3t)Glyn James: Advanced Modern Engineering Mathematics, Third edition 125 48(b) ‘ fx g(t)= f (74 Dear lo 1 » 1 —yi Hot-r) — L-age—ry = 5 + De iv 1, 48(c) Integration by parts gives 48(d) Integration by parts gives ‘ ‘ fo ecsinte nar = [ e9) sin cdr 0 0 = ;(sint — cost +e) lapse Since £~ ue Pa 1s fit) and 2's cap} 5 = 49(a) oS app [10-paner © Pearson Education Limited 2004126 Glyn James: Advanced Modern Engineering Mathematics, Third edition Direetly —toyeecth py (s+3)7 54 (s+3)? (843)? (+3) = ae — e~* (94? + 6t + 2)] co 49(b) oop) - “iy tl 1 f {Gop ‘waa Directly 1 2 L 35 125 + ed (s— 2) * (843) ° (s +3)? coy ot, Lye 2 ae Ly ae te area) yo5® Fah Faget opt (s—2)°(s +3)? = qlee — 2) +e (5t + 2)] oe aon" Hf g(t) ce 1 Aaa! ayn tee] att ~a6° ta 6 © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 127 Directly dow tt = 50 Let f(A) = and g(A) 1 . 1 F(s) = and G(s) = 5 Considering the integral equation y(t) de AN dQ By (2.80) in the text eR G(6)} = fF a)alr— rye : -[ de MN dd = y(t) 0 so u(t) = EN F(s)G(s)} = 71 = Ferp =(-D+et = 51 Impulse response h(t) is given by the solution of @h Tdh et gy + eh = le) subject to zero initial conditions. Taking Laplace transforms (s? + 78+ 12)H(s)=1 1 1 1 MO Gpaee) 48 sea giving h(t) = £-1{H(s)} =e —e-* © Pearson Education Limited 2004128 Glyn James: Advanced Modern Engineering Mathematics, Third edition Response to pulse input is ‘ a(t) = Af f je) ear} A(t) 5 Mt - at fe) — ede A(t — P) 3.4 °3 111 {5 atts, HO) 1 MD) — MOA nt 1 pall de 4 eM — (1 de BED) 4 Be MT) AE TY] or directly A —sT u(t) = A|H(t) — H(t —T)] so U(s) = C{u(t)} = sit —e* Thus taking Laplace transforms with initial quiescent state 2 A (s+ 7+ 12)X(s) = [1 et) di.oiii Lola gp aly S73 saataeqal 8) A x(t) = 27"{X(s)} = wit de 4 Bet — (1 — te ET) 4 Be 4AO—T)) ET) X(s) = 52 Impulse response A(t) is the solution of @h dh . & + bh = = io) = Ee eR te Taking Laplace transforms (8? 448+ 5)H(s)=1 1 1 Hs) = Br sa5 > (sp 2) Fi so h(t) = £-1{H(s)} = e~** sint. © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 129 By the convolution integral response to unit step is t Go(t) -[ 6D) sin(t — 7).1dr a of e sin(t — 7dr 0 which using integration by parts gives 2 [e"[2sin(@t — 7) + cos(t — 7), Oo(t) = ‘ 1 — -e-*(2sint + cost) 5 Check Solving 2 0 = + aoe +50) =1, 49(0) = 40(0) = gives 2 1 (s* + 4s + 5)Bo(s) = 5 1 1 1 st4 & — 1 a tists 8) = 2p asb8) Bs 5 Grae al 1 1 80 Oot) = £-'{Bo(s)} = 3 ~ gleost + Qsint}e—* Review Exercises 2.8 Px Ee a + 5a = 8cost, #(0) = #(0) = 0 Taking Laplace transforms = 1(a) (s? +48 +5)X(s) = ai 8s _ sti s+5 “SF1 +445 s 1 (s+2)+3 “patter Ga2241 giving x(t) = C~'{X(s)} = cost + sint — e-* [cost + 3siné] X(s)= © Pearson Education Limited 2004130 Glyn James: Advanced Modern Engineering Mathematics, Third edition Pr dx 1(b) Te ~3 — 2x = 6, 2(0) = 4(0) = 1 ‘Taking Laplace transforms 2 (5s? — 3 — 2)X(s) = 5(s +1) —3(1) + ° — be sas bs? + 28+ 6 5s(s + 2)(8 + 1) 3 8 X(s)= 2 giving 2(¢) = C-1{.X(s)} = 3 + Bet + Pet = 2(a) 1 re ee ee ce (s+ D(s+2)(s?+2s+2) s+1 2s+2 2 s?+28+2 — 1 ft td 1 (stati “stl 2842 2 (s+1P41 1 1 1 Thus ¢-) {dt ig tt _ et _ “eo teost + sint ws eae aD 3e ge (rest + sind) 2(b) From equation (2.26) in the text the equation is readily deduced. Taking Laplace transforms 1 os ge 4 2)Ile) = , (s° + 38 + 2)I(s) st2434+ Vay st+5 , 1 1) = Gaaeen large Dery! 4 3 sats tY [extended as in (a)] © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 131 ‘Thus using the result of (a) above i(t) = £-1{I(s)} = 4e7* — 3c + Vem? — 1 2 e 1 2t Ee i Ze (cost + sin t)] = 3 Taking Laplace transforms (s? — I)X(s) + 5s¥(s) = 3 —2sX(s) + (s? —4)¥(s) = Eliminating ¥(s) [(s? — 1)(s? — 4) + 28(5s)|X(s) = ls?—4 5 giving #(t) = £-'{X(s)} = t+ 5sint — 2sin 2¢ From the first differential equation (s? + 1)(s? +4) 4 etl +4 = -|t—¢+5sint — 2sin 2¢ + Ssiné — Ssin 24] dy 1 @x wo littael 1 5 = (2sint —2sin 2t) then y = —2.cos# + cos 2¢ + const. and since y(0) = 0, const. = 1 giving u(t) = 1—2cost + cos 2t x(t) = —t + 5sint — 2sin 2t = 4 Taking Laplace transforms 8 (s? + 2s + 2)X(s) = sap + 21 + 2a9 + —— s+ © Pearson Education Limited 2004132 Glyn James: Advanced Modern Engineering Mathematics, Third edition __ 8%q + 21 + 2x0 8 X(8)= pos + Piety 07D _tolstI+(mi+%) 1ost2 1 sta ~ (s+1P?41 5 stil 5 (st1P4i giving a(t) = £-"{X(s)} = “Hag cost + (01 + 2y)sint) + H(cost + 2sint) = Fo Mecost + 3sint) ive. v(t) = Heost + 2sint) +e* [za ~ A eost-+ (a1 + 20 ~ 2)sind] t t steady state transient and phase lag a = tan~12 =63.4°. = 5 Denoting the currents in the primary and secondary cireuits by 4;(¢) and i(t) respectively Kirchoff’s second law gives dit, dig bi +22 + = 100 tee aig + 372 4 Mg ede dt Taking Laplace transforms \ 100 (5 + 2s)h(s) + sIo(s) = S sh(s) + (38 + 20)In(s) = 0 Eliminating f(s) [s? — (3s + 20)(28 + 5)|fo(s) = 100 —100 20 bs? 455s+ 100 s? + lls +20 1 a) Ja(s) = 20 _ 4 val © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 138 giving the current é(t) in the secondary loop as 2 mus ce ig(t) = £1 fo(8)} = 20 [eGvTy2 — _-G-ve] = 6(a) (i) L{cos(wt + 4)} = feos $cos wt — sin dsin wt} 8 . w Seba ye nae (scos¢ — wsin d)/(s + w?) Gi) Lfe“* sin(wt + $)} = Le sin wt cos 6 + ce“ coswt sin o} cos w + sin stw (s+ w)? + w? Pst wp tw [sin + w(cos @ + sin @)|/(s? + 2sw + 2w?) 6(b) Taking Laplace transforms (s? + 48 + 8)X(s) = (28 + I) + 84+ —=—— eal _ 2s? 4.997 4 98 + 36 ~ (s? + 4)(s? + 4s + 8) 1 std. 1 3984172 20 244" 20 st? +4s48 1 39(s+ 2) + 47(2) 0 (s +.2)% + (2)? 1 giving x(t) = ¢~'{ X(s)} (cos 2t + 2sin 2t) + ye M8908 2+ A7sin 2). = 7(a) . s—4 n-1p(s + 2) — 2(3 sap ial © lip are ry 3 = e*[eos 3t — 2sin 34] © Pearson Education Limited 2004134 Glyn James: Advanced Modern Engineering Mathematics, Third edition 7(b) Taking Laplace transforms 2s 4 +i 41 (s+ 2)¥(s) =-3+ ‘ + —3s" + 6s? + 8+4 YO= S648 +) 5 2 ~ 3+2" st+1 wire cult) = L“HY(s)} = 2 - 5e7™ 4 Qsint = 8 Taking Laplace transforms (s + 5)X(s) +3¥(s)=1+ z - 6 5X(8) H(843)Y8)= Sy aay Eliminating ¥(s) ye 3(6 — 3s) [(s + 5)(s + 3) — 15]X(s) = —— = — “aL (s? + 8s)X(s) = 1 1 X(s) =ayt+ "(sts F) st8) @ yi so a(t) = £-1{X(s)} = e7* + sint From the first differential equation a 3y =Ssint — 2eost — 52 — = t= 3e~*! _ 3cost Thus a(t) = eS +sint, y(t) = e** — cost. © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 135 = 9 Taking Laplace transforms > sore) = apo. 200 (s? + 300s + 2 x 10)Q(s) = 200 7410 2 108 (s+ 100)(s + 200)Q(s) = 108. Sy 2.104 Q9) = SPOS + 2006 + 10) iol 2 1 1 3s—100 1 2 1 vi -c — 1 stove — 2,200 — | (3 ons 1008 — sin 1008 giving g(t) = £*(Q(8)} = 755° - pg (8008 100t — sin 1004) 500 ie. a(t) = ee — 262004} altos 100t — sin 100¢] t t transient steady state 3 1 Steady state current = = sin L0Ot + = cos 100¢ = A sin(100¢ + a) 5 i where a=tan! 4 ~ 185°. Hence the current leads the applied emf by about 184°. = 10 1 Geb y= 2sin3t (i Px dy 2 oe ptt ay 7 (ii) . de ; Given 2 =2 and — = —2 when ¢=0 so from (i) y= —4 when t= 0. Taking Laplace transforms 4 8s? +36 (4s +8)X(8) Ys) =8+ So = a 3 2s? +6847 2 _ = 25 — == (s° + 1)X(s) — s¥(s) = 28 2t4+ Ga e2 Eliminating ¥(s) 897436 28? +68 +7 4 2 _ [s(ds + 6) + (s? + 1] X(s) = Syd e428 © Pearson Education Limited 2004136 Glyn James: Advanced Modern Engineering Mathematics, Third edition X(s) — 8s? + 36 287 + 68+7 . s(2@ Ast Disth) bet 264+ D(s+3) _ en 505s? +4 "es +2 stl s+t 445 _ | ER _ 1 [Fs = 96) s+e 505" st +4 giving 1 445 1 1 r(t) = LX (s)} = se —3! — (76 cos 2t — 48 sin 2 a(t) = £NX(s)} = 5 3 wai3° apg (76 c082t — 48sin 24) = 11(a) Taking Laplace transforms (s? + 8s + 16)6(s) = 8) = Baye eD —l til 1 2s-3 ~ 25 s+4° 10 (e+4? 50 s?44 (4cos 2¢ — 3 sin 24) — ctre(ey = de tt Li pete 80 6(t) = £-{&(s)} = tape iB 1 E ie, (0) = Tp5(de~t* + 10te# — deos 2¢ + 3sin2t) 11(b) Taking Laplace transforms (s+ 2)hi(s) + 6lo(s) = 1 Ai(s) + (8 — 8)fo{s) = 0 Eliminating fo(s) {(s + 2)(s — 3) —6]f(s) = s—3 88 s—a(s+3) Ns) = giving i,(¢) = £-{L,(8)} = ple 4 6e-8*) © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 137 ‘Then from the first differential equation di 6 6 Gig = —2i, — a = -3" + ze (eo -e"), A(t) = ple + 66%), giving i2(t) = aye = 12 The differential equation i . LOR Sa + a - Ri=V follows using Kirchhoff’s second law. Substituting V = 2 and L = 2R°C gives ea : of et Rix . vos 1 which on substituting CR ~ 5 leads to 1 @i ld | £ Qn2 dt? ‘nde’ R and it follows that PF ont oni — aE ae at ‘Taking Laplace transforms Qn? BE 1 (s? 4 2ns + 2n?)I(s) = wl E Qn? ~ ple + ons + Tay) E s+ 2n Bly Grays 1 8 so that i(t)= an —e ™(cosnt + nsinnt)] © Pearson Education Limited 2004138 Glyn James: Advanced Modern Engineering Mathematics, Third edition = 13 ‘The equations are readily deduced by applying Kirchhoff’s second law to the left and right hand circuits. Note that from the given initial conditions we deduce that i2(0) Taking Laplace transforms then gives E (sb + 2R)h(s) ~ Rhals) =~ —RI(s) + (sL + 2R)bo(s) = 0 Eliminating Io(s) [(sL + 2R)? — R'\y(s) = Foow + 2R) (sb + 3R\(sL + R)hi(s) = Fon +2R) a 1E giving i;(t) = £-'{i(s)} = GR From the first differential equation . diy Rip =2Ri, +L B ie + Loe Ignoring the exponential terms we have that for large t - 4B EE 1E ge oa a=s 3R R 3R © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 139 = 14 Taking Laplace transforms: 2 (s? + 2)Xi(s) — Xof{s) = Sad —Xy(s) + (8? + 2)Xo(s) = Eliminating Xy(s) 2 s? 42)? — 1]X2 = [(s? + 2)? — 1X) Sad Xo(s) = (9) = Be Dera _3 _ st s+3 1 1 _ p-try. a 80 ao(t) = £' Xa(s)} = 38 sindt-+ Zsint we sin V3t ‘Then from the second differential equation Pr 2. 2. 2. 4. i Ket y(t) = 2x2 + 2 = gsindt + 3 sint — aan V3t — sin dt — 5 siné-+ v3sin V3t 2. 1. Fry orm(t) = Zein 2+ 3 in V3t = 15(a) @) a1 st4 -1y (8+ 1) +3 £ (ayaspia} = (apts! e~*(cos 3t + sin 3t) (ui) pao @-! *G (s— 1? =e! + 2tet — 2 © Pearson Education Limited 2004140 Glyn James: Advanced Modern Engineering Mathematics, Third edition 15(b) Taking Laplace transforms (s? +28 + 1)¥(s) =4s +2484 C{3te*} Oey 3 (+ 1P¥(@) = 42+ 10+ Bae 4s +10 3 “0” Goip * GEIF 4 6 3 sti Gri +04 giving y(t) = £-'{Y¥(s)} =4e~* + 6te“* + diet 1 ie. y(t) = Se“"(8 + 1284 8) = 16(a) 5 _5 2 Ms +53 2 (s—7)2+2 f(t) = LAL F(s)} = be sine 16(b) pee coe a » (0) = (0) =0, i const. ‘Taking Laplace transforms 2Ks + n°)Bi (8? 4 2Ks + n)@(s) = Re ni +, 6(s) = —__ ___ ° 98) = EG Kay) For the case of critical damping n = K giving © Pearson Education Limited 2004Glyn James: Advanced Modern Enginecring Mathematics, Third edition Thus a(t) = L-"{(s)} = bn =e Bt te“ KY 141 = 17(a) @) L{sintH(t — a)} = L{sin[(t — a) + alH(t —a)} = L{[sin(t — a) cosa + cos(t — a) sina] H(t — a)} _ +ssina _., (ii) pl fg-as (8 +1) 1 Le Gand) = £-Me*£[o-*(cos 24 58 20)} = eI [cos 2(t — a) 1 sn a(t a)|H(t—a) 17(b) Taking Laplace transforms 1 -sn (s?4 7] by (i) above in part (a) pis? yt ~ § 10s? +17 10s? © © Pearson Education Limited 2004142. Glyn James: Advanced Modern Engineering Mathematics, Third edition giving yt) = £NY(s)} = Fesine- cost +e) [2sin(t — #) — cos(t — w(t — )] + 1 "cos 2t — 5 sin 2t) + e) [cos 2(t — 2) - £ sine —n|H(t—7)] 1 1 = ple“ (cos2t ~ sin 2t) + 2sint — cost 1 + [eo *) (cos 2¢ — 5 sin 2) + cost — 2sin t]A(t — n)] = 18 By theorem 2.5 C{v(t)} = Vis) = — sty(t)at a 1 r/2 r => ovat f reall I, ~ {tte 1a” } vet a T/2 1 1
0-84, +B, +128 + 34, +4B, = 48 y"(5) =0 > 0= A, +5B, + 6(25)+6—-R=> A, +5B,— R= —-156 y"(5) =0 > 0=B, +12(5)+12-R > B,-R=-72 which solve to give Aj = 18, By = —25.5, R= 46.5 Thus 5 — 4.2523 +927, 0 F(t—n) n=0 u(t) = F(t) + fE—m) + Fe The graph may be plotted by computer and should take the form $0) 1 : +1)? taking f(t) = and g(t) =te™t in the convolution theorem = 23(a) Since L{t} = , L{te~*} Lo'F(s)G(s)] = f = g(t) © © Pearson Education Limited 2004148 Glyn James: Advanced Modern Engineering Mathematics, Third edition gives : = ff fe natrver = [ree = [-(t-r)ret — (t 27 1 242% + tet (s +2) vee 23(b) y(t) =#+2 fp ww) cos(t — u)du Taking f(t) = y(t), g(t) = cost > F(s) = Y(s),G(s) = ea transforms (s? + 1—28)¥(s) etl 2 2 2 ere Ras 2 ste and y(t) = £-'{¥(s)} =2+4—2ef + 2te’. ‘Taking transforms (s°¥(s) — sy(0) — ¥'(0))(s¥ (s) — y(0)) = ¥(8) (°¥(s) — wi)(s¥(s)) = yo giving Y(s) = 0 or Y(s) = 4+ = which on inversion gives lo y(t) = 0 or y(t) = a + by In the second of these solutions the condition on y’(0) is arbitrary. © Pearson Education Limited 2004Glyn James: Advanced Modern Enginecring Mathematics, Third edition = 24 y Be Equation for displacement is dy EI, = -Wo(x-6 det @-4) with y(0) =0, (30 =0, y’(0) =y/(2 with y’(0) = A, y'"(0) = B then taking Laplace transforms gives giving y(x) = Wao He—H+4 6EI 2Wwe pope oa 3 “9 ET * si ET" © © Pearson Education Limited 2004 149150 Glyn James: Advanced Modern Engineering Mathematics, Third edition With the added uniform load the differential equation governing the deflection is pit = —W6(x — 0) — wlH(x) — H(w — 2) = 25(a) Taking Laplace transforms (s?— 3s +.3)X(s) = few giving a(t) = £7 X(s)} = [! ae He —") (cos Bu —a)— vain — «| H(t—a) 1 6 25(b) fs) =O ‘ _ w X(s) = G(s)C{sinwt} = G(s) w =o (8 wr aye 7a) Since the system is stable all the poles of G(s) have negative real part. Expanding in partial fractions and inverting gives Fue x(t) = 2R, oe e/*) + terms from G(s) with negative exponentials Thus as t + co the added terms tend to zero and a(t) + 2.(t) with [teow ta(t) = Re 7 © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 151 = 26(a) In the absence of feedback the system has poles at s=—3ands=1 and is therefore unstable. cy G8) 1 = 1 26(b) Cil8) = TRG = GoDEFHN LK ~ PEt KS) 26(c) Poles G(s) given by s=-1+ V-K. These may be plotted in the s-plane for different values of K, Plot should be as in the figure TAG) Res) 26(d) Clearly from the plot in (c) all the poles are in the left half plane when K > 3. Thus system stable for K > 3. a a ay 26 , - 1s? + 28 + (K-3)=0 Routh-Hurwitz determinants are A, =2>0 alee cose oe . A 0 ao 0 K_3| = 2K —-3) >On K >3 thus confirming the result in (a) = 27(a) Closed loop transfer function is © © Pearson Education Limited 2004152 Glyn James: Advanced Modern Engineering Mathematics, Third edition 2 Thus oN oyaspe) = A(t) = 2c sint ie, CY{—__2 ____} pe Ftsin (5 — 2 t= 20 sine (s+ $P+6-%) giving a=4 27(b) Closed loop transfer function is _ 10 ~ x? 4+ (10K —1)s +10 Poles of the system are given by s?4 (10K —1)s+10=0 which are both in the negative half plane of the s-plane provided (10K — 1) > 0; that is, K > 4. Thus the critical value of KC for stability of the closed loop system isk = 3. 28(a) Overall closed loop transfer funetion is ek s(1+ KK\)+K G(s) “T+ (+ Kis) K ses) 28(b) Assuming zero initial conditions step response x(t) is given by . _ K X(s) = G(s)L{LA(t)} = Pas = RR) =F] Un ~ |g? + 2€w,8 + we] 1 $+ 2, 8 9+ wns + we 1 (s+ wn) + Sn s- le + Ett)? + [wi — ral (% + &wn) + & © L (8+ Ew)? + w’ giving x(t) = £-1{X(s)} = eS" Teos wat + © Pearson Education Limited 2004Glyn James: Advanced Modern Engin ering Mathematics, Third edition 1 d: # 28(c) The peak time ty is given by the solution of SF],_,, =0 dx swat [fe,, Swa Lun te = eee! (gu, — = ) 008 wat (+ wa) sin wat sin wat fA-e ‘Thus t, given by the solution of Wn . en bnty sin watp ie, sinwaty = 0 Since the peak time corresponds to the first peak overshoot t a watp =F oF ty =~ wa ‘The maximum overshoot M, occurs at the peak time tp. Thus wig fe . ws [cos@ + —— sine [own + Spans] = set =e lV F ge We wish M, to be 0.2 and t, to be 1s, thus eS/VI-@ — 0.2 giving € = 0.456 and <1 giving wg = 3.14 a Then it follows that w, = = 3.53 from which we deduce that K =w? = 12.5 and Ky = 2&4 _ ozs, © Pearson Education Limited 2004154 Glyn James: Advanced Modern Engineering Mathematics, Third edition 28(d) The rise time t¢, is given by the solution of a(t,) = 1L= 1— eS [eos waty + Since e~Stntr é 008 Wate + = vie giving tan wath = so the curves 1+ are the envelope curves of the transient response to a unit step input and have a time constant T = ~—. ‘The settling time ¢, may be measured in terms of T. Using the 2% criterion t, is approximately 4 times the time constant and for the 5% criterion it is approximately 3 times the time constant. Thus 29 criterion + t, 47 = = 2.485 fw 3 5% criterion 1 t, = 37 = —~ = 1.86s GW Footnote ‘This is intended to be an extended exercise with students being encouraged to carry out simulation studies in order to develop a better understanding of how the transient response characteristics can be used in system design. 29 As for Exercise 28 this is intended to be an extended problem supported by simulation studies. The following is simply an outline of a possible solution. © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 155 Figure 2.63(a) is simply a mass-spring damper system represented by the differential equation és de Assuming that it is initially in a quiescent state taking Laplace transforms M, + BE + Kye =sinwt X(s)- +.” X)= RPE Ret Ry P40? The steady state response will be due to the forcing term and determined by the as+ 3 3? + w? response will be of the form Asin(wé +); that is, a sinusoid having the same term in the partial fractions expansion of X(s). Thus, the steady state frequency as the forcing term but with a phase shift d and amplitude scaling A. In the situation of Figure 2.63(b) the equations of motion are Px - dx . Mae =—-Kir— BE + Ko(y— 2x) +sinwt ay Maye = —Koly - 2) Assuming an initial quiescent state taking Laplace transforms gives (Mis? + Bs + (Ki + Kx)|X(s) — K2Y(s) = w/(s? + w?) —K2X(s) + (s?Mz + K2)¥(s) = 0 Eliminating Y(s) gives ' w(s?Mp + Ky XS) = Cary pls) where p(s) = (Mis? + Bs + K, + K3)(s?M> + Ka). Because of the term (s? + w?) in the denominator 2(t) will contain terms in sinwt and coswt. However, if (s?M2+K2) exactly cancels (s? + w?) this will be avoided. Thus choose Ky = Mzw?. This does make practical sense for if the natural frequency of the secondary system is equal to the frequency of the applied force then it may resonate and therefore damp out the steady state vibration of M. It is also required to show that the polynomial p(s) does not give rise to any undamped oscillations. That is, it is necessary to show that p(s) does not possess purely imaginary roots of the form j@,@ real, and that it has no roots with a positive real part. This can be checked using the Routh-Hurwitz criterion. © Pearson Education Limited 2004156 Glyn James: Advanced Modern Engineering Mathematics, Third edition ‘To examine the motion of the secondary mass Mp solve for ¥(s) giving Kou NO)" Sw) Clearly due to the term (s? + w?) in the denominator the mass Mp possesses an undamped oscillation. Thus, in some sense the secondary system has absorbed the energy produced by the applied sinusoidal force sin wt. 30 Again this is intended to be an extended problem requiring wider exploration by the students. The following is an outline of the solution. 30(a) Students should be encouraged to plot the Bode plots using the steps used in example 2.62 of the text and using a software package. Sketches of the magnitude and phase Bode plots are given in the figures below. 30(b) With unity feedback the amplifier is unstable, Since the —180° crossover gain is greater than dB (from the plot it is +924B). 30(c) Due to the assumption that the amplifier is ideal it follows that for marginal stability the value of 4 must be 924B (that is, the plot is effectively lowered by 92dB). Thus 1 20log— = 92 O85 30(d) From the amplitude plot the effective 0dB axis is now drawn through the 100dB point. Comparing this to the line drawn through the 92dB point, corresponding to marginal stability, it follows that Gain margin = —8dB and Phase margin = 24°. © Pearson Education Limited 2004gy Glyn James: Advanced Modern Engineering Mathematics, Third edition 1) 30(e) K (1+ s71)(1 — 872)(1 + 873) Given low frequency gain K = 120dB so G(s) = 2Wlog K = 120 = K = 10° 1 T, == where fj is the oscillating frequency in cycles per second of the pole. Since IMHz = 10 cycles per second 1 1 71> 7 = jg since fi = IMHa n= “Tar since fy = 10MHz = = 5 = since fy = 5 n=, — since fy = 25MHz Thus 5 Gls) i "U4 BOC+ Toi)E + sie) _ 250.10°4 ~ (s+ 108)(s + 107)(s + §.107) ‘The closed loop transfer function G(s) is Gs) G9) =F + BG(s) 30(f) The characteristic equation for the closed loop system is (s+ 109)(s + 10")(s + §.107) + 625.10 =0 or 8° + 36(10°)s? + (285)101?s + 101°(25 + 25g10°) = 4 4 4 Al Ag A3 By Routh-Hurwitz criterion system stable provided A, > 0 and AyAg > Ag. If =1 then A,Ap < Ag and the system is unstable as determined in (b). For marginal stability A;Ap = Ag giving 8 = 1.40~* (compared with = 2.5.10-® using the Bode plot). © Pearson Education Limited 2004158 Glyn James: Advanced Modern Engineering Mathematics, Third edition Magnitude vs Frequency Ptot 120 T I Data margin CELL CECH Hay ULE fl 8 63] FEL 4005 on - Hep bt - aol 60} @ 40 8 & 3 20 FH Corresponds to 180" phase iag| plot it " To phase O° —90° — 180° = 270° | 1 10 25 In freq. MHZ © Pearson Education Limited 20043 The z Transform Exercises 3.2.3 = 1a) F(s) = 1(b) 1c) ws oye Fe) = Y - s|s2 mo 1(a) oO he Fe) = OP = & 1(e) from (3.6) whence zn, ABR} = 87 py itl 2 [> 1 whence © Pearson Education Limited 2004160 Glyn James: Advanced Modern Engineering Mathematics, Third edition Exercises 3.3.6 a3 a log loo 2 {sink} = 5 oor ~ yy poet zsinwT = 2 coswT $1 ad so Proceeding directly 2{m} = kas 7 = 5(a) z {-3} = 5(b) {eos kr} = {(-1)"} 2 {eos ke} = a jz|>1 =6 By (3.5) © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 161 thus etm 2 {(ka")} = Gop whence k . 1\"(_ 2{h(3) \- oe = 7a) 1 1 a ok oy ke sinh ka = 5(e*)* — 5(e~°y so oY fot. L esinho {sinh ko} -3( - ~ Becosha #1 7b) 1 1 L — yk —aeyk cosh ka = 5(e")" + 5(e*) then proceed as above. = 8(a) a(b) zsinT —2zcosT +1 8(c) 1 oo, _ . uy = = (MT + eT) then proceed as above. = 9 Initial value theorem: obvious from definition. © Pearson Education Limited 2004162 Glyn James: Advanced Modern Engineering Mathematics, Third edition = 9 Final value theorem Gar )x@= m1 —% , w—2 Tt tet = 0+ As 2—+landif |" a, exists, then lim (1 — 271)X(2) = lim 2, zal rato = 10 Multiplication property (3.19): Let 2 {a} = Dy SE = X(2) then = X(2/a) akxy ae 2 {aka} y 10 Multiplication property (3.20) d —X(2) = ‘The general result follows by induction, Exercises 3.4.2 = 11(a) 43 ftom tables uy = 1 11(b) - a = : from tables w, = (—1)* 11(c) . _ A Soya from tables ws = (1/2) © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 163 11(a) = _ Fe +173 1/3) 11(e) a} from tables w, = (9 )* 11(f) /a\k poy OI? py avy y 11(g) k=0 k>0 using first shift property. 11(h) = 12(a) so 12(b) oe} (g- sip) Homan 12(c) 1 1 1 + erpip at ey © Pearson Education Limited 2004164 Glyn James: Advanced Modern Engineering Mathematics, Third edition Be) . 2 2 22 2k 2, vk YO= se yp ar ar gt) — 2a yoy k oa yet = Fats 2- 12(e) ' 1 YO= a (e57 z—( =) a z ~ oy ( {0,0,1,1} + {(-1/3)*} 13(e) -2-1/2)1, bh © Pearson Education Limited 2004166 Glyn James: Advanced Modern Engineering Mathematics, Third edition 13(f) Ok 1-%k—-Y)+2"k21 _ fo k=0 ~ 3 -2h 424, 13(g) Exercises 3.5.3 14(a) If the signal going into the left D-block is we and that going into the right D-block is v%, we have 1 Vet = We = Tk ~ 50k Uk = so 1 Ueto = Vet = Tk — GUE 1 1 = bE 5 Uk = Tk SUREL ie. 1 Uke + Uk = @e 14(b) Using the same notation 1 ot Yeti = Ves Yeti = Wk = Re Fe — Ue © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 167 Then 1 1 Ykp2 = ke — TYR — 5 Uk 4 5 or toast oti ty =a, Ueto quett Bue he 15(a) PY (2) — yo — 2m — 2(2Y (2) — eyo) + ¥(2) = 9 with yo =0, y= 1 ¥(2)= 50 yp — kk > 0. 15(b) Transforming and substituting for yo and y, thus 15(c) Transforming and substituting for yp and y: . : YO) = ane re) a z * © ay (22072 2 2e-377 thus 1 ok (cake /2 _ p-ake/2 pk-1 es > == 7/2 g-akr/2) 9 2, k wa 7? (e eri?) sin kr/2, k= 0 © Pearson Education Limited 2004168 Glyn James: Advanced Modern Engineering Mathematics, Third edition 15(d) Transforming, substituting for yo and yi, and rearranging - 62-11 YOlP= Bre 3) so YO=2 5p t ya thus ue = (1/2) +38, k= 0 = 16(a) Synto + Yeti — Ye = 3, yoo yi =O ‘Transforming with yo = y: = 0, (627 + 2-DY(2) = . 3 YO = Ce - Des) and 1 9 2 Y¥@)=574- 2-18 > Betlp Inverting 1 9 2 k w= 37 (lls + e-1/2) 16(b) Transforming with yo = 0, ys: = 1, —52+6)¥(2)= 245 whence © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 169 viny - 4 2 ¥@) 1b2— 1/2 whence 4 > > = = (1/2) — =(2)* + 213)" vn = (0/2) — 32)" + 208) 16(d) Transforming with yo = 1, m1 = 0, (2-32 +3)¥(2) 16(e) Transforming with yo = 1, m1 922 — 3x —2)¥(2) = 22 2 (28 Bs —2)V(2) = 2 be tO © Pearson Education Limited 2004170 Glyn James: Advanced Modern Engineering Mathematics, Third edition 80 Y@)= and 1 1 Un =l-n— 32)" — gy" 17 Write the transformed equations in the form 2-3/2 1 e2)\ _ (2Co 021 2-1/2) \el2)/ \2Bo (03) = s=aeroa Corse) Ge) Solve for (2) as Then 2-12 + 4800-—G3 e(2) = 1200 and Ox = 1200(1.2)* + 4800(0.8)* ‘This shows the 20% growth in C;, in the long term as required. Then Ey, = 1.50, — Cry = 1800(1.2)* + 7200(0.8)* — 1200(1.2)**! — 4800(0.8)*** Differentiate wrt k and set to zero giving 0.6 log( 1.2) + 5.62 log(0.8) = 0 where x = (0.8/1.2)* Solving, ¢ = 0.0875 and so log 0.0875 ee _ 6.007 iog(0.8/1.2) ~ °° ‘The nearest integer is k — 6, corresponding to the seventh year in view of the labelling, and Cg = 4841 approx. 18 Transforming and rearranging 2774 22-3) © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 171 so Y@) thus =19 Ty = Ce t+ Pr+ Ge = aly_1 + (Cy -— Ci) + Ge = aly-1 + Bayt — Iya) + Ge 80 Teyg — (1 + b)gy 1 + abl, = Gayo ‘Thus substituting Tita — Tega + she =G Using lower case for the 2 transform we obtain 2+ Si) = (22 +2)G4+6 whence Thus 201 / p =a)o kf gpkn/A _ g-ake/a Ty apres) {e e i k =2G [ + (+) sinks] v2 © Pearson Education Limited 2004172 Glyn James: Advanced Modern Engineering Mathematics, Third edition = 20. Elementary rearrangement leads to ing2 —2eosha ing tin = 9 with cosha — 1+ R,/2R. Transforming and solving for I(z)/z gives zig + (i1 — 2io cosha) Lajfe= (2 = eal 8) _ 1 fine + (iy = Big cosh a) — ige® + (#1 — 2% cosh) ~ 2sinha zee z- Thus 4, — (ine? + (i = Bio cosh a))e"* ~ (ine + (i = Bip cosha))em" .- 2sinha sinhna ~ fg sinh(n — 1a} Exercises 3.6.5 = 21 Transforming in the quiescent state and writing as Y(2) = H(2)U(z) then 21(a) H(2) 21(b) H(2) 21(c) = 22 For the first system, transforming from a quiescent state, we have (2? 40.52 + 0.25)¥ (2) = Ul2) ‘The diagram for this is the standard one for a second order system and is shown in Figure 3.1 and where ¥(2) = P(2), that is yx — pe. © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 173 Ua) zP(z) P(z) Figure 3.1: The block diagram for the basic system of Exercise 22. Transforming the second system in the quiescent state we obtain (2? + 0.52 + 0.25)¥(z) = (1 — 0.6)U(z) Clearly (2? + 0.52 + 0.25)(1 — 0.6z)P(z) = (1 — 0.6z)U(z) indicating that we should now set ¥(2) = P(2) — 0.6zP(z) and this is shown in Figure 3.2 O=O- + ui) 2P(z) P(z) 7 ie +| 1/z . + Figure 3.2: The block diagram for the second system of Exercise 22 © Pearson Education Limited 2004174 Glyn James: Advanced Modern Engineering Mathematics, Third edition = 28(a) Co _ 1 Yolo? = Dae tt) *° 1 1 Yo) ~ 25544 22s 1A Leary hapa 23(b) YoM2 = a 3r43 whence © = (v3) e sinkn/6+ Feoskn/6 = 2(/3)* sin(k + 1)x/6 = 23(c) <0 then 23(a) 0 and ye = (2) + (aE © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 175 = 24(a) 24(b) = 25 Examining the poles of the systems, we find 25(a) Poles at > =—1/3 and > = —2/3, both inside | stable, 2 |= 1 so the system is 25(b) Poles at » = —1/3 and > = 2/3, both inside | 2 |= 1 so the system is stable, 25(c) Poles at x = 1/2+ 1/29, | x |= 1/./2, so both inside | system is stable. 25(d) Poles at 2 = 3/4 17/4, one of which is outside | 2 |= 1 and so the system is unstable. 25(e) Poles at 2 =—1/4 and 2 =1 thus one pole is on | > |= 1 and the other is inside and the system is marginally stable, © Pearson Education Limited 2004176 Glyn James: Advanced Modern Engineering Mathematics, Third edition = 26 To use the convolution result, calculate the impulse response as ys,x—(1/2)*. ‘Then the step response is k ve = SO 1 OP = 1/221 y= yay OP j=0 j=0 = 0/2)F AT 1) = 2 (1/2)* Direetly, , : YOM? = Ca pjye a) so ye = 2—(1/2)* = 27 Substituting Yt — In + KYn1 = K/2" or Ynia~ Yosit Kym = 1/2 ‘Taking 2 transforms from the quiescent state, the characteristic equation is e—2z+K=0 with roots Vvl—4AK wads 1 Vi Wands = For stability, both roots must be inside | 2 wie wie |= 1 so if K < 1/4 then Vl-4K <1=+K>0 and If K > 1/4 then 1 1 |g tagV4K-1P<1SK <1 ‘The system is then stable for 0< K <1. When k = 2/9 we have 2 1 Ynt2 — Unt + Fn = = Yoo? — Unt + 5m = 9 © Pearson Education Limited 2004Glyn James: Advanced Modern Engineering Mathematics, Third edition 177 ‘Transforming with a quiescent initial state 2 1 @-2+ YW) = 5 which inverts to Un = 2(1/3)" + 2(2/3)" — 4(1/2)” = 28 P+ 2242=(2-(-1+3))(2-(-1+3)) establishing the pole locations. Then So since (—14+ 9) = VQet#*/4 ete., un — (V2) sin Bh /4 Exercises 3.9.6 229 : NS) = ay ae2 Replace s with = 2— to giv eplace 8 with < “—— to give ; M241) HG) = Tey GAG? — 1) 4 2224 IE Ae +1? ~ (446A + 2A?}2? + (4A? — 8)2 + (4— 6A + 2A?) © Pearson Education Limited 2004178 Glyn James: Advanced Modern Engineering Mathematics, Third edition ‘This corresponds to the difference equation (Ag? + Bq + C)yx = A?(q? + 2g + Lux where A=4+6A+2A? B=4A?-8 C=4—-6A+ 2A? Now put g=1+A6 to get (AA28? + 2QA+ B)AS+A+B+C)yn = AP?(A75? + 4A0 + d)uy With f = 0.01 in the q form the system poles are at 2 = 0.9048 and 7 = 0.8182, inside | z |= 1. When t = 0.01 these move to 2 = 0.9900 and 2 = 0.9802, closer to the stability boundary. Using the 6 form with f = 0.1, the poles are at v = ~18182 and v = —0.9522, inside the circle centre (—10,0) in the v-plane with radius 10. When t = 0.01 these move to y = —1.9802 and vy = —0.9950, within the circle centre (—100,0) with radius 100, and the closest pole to the boundary has moved slightly further from it. 30 The transfer function is 242841 22-1 To discretise using the bi-linear form use 6 —+ Povi to give 5 (2 +1) fits) = 4 (2+) 23+ B22 +Cz+D and thus the discrete-time form (Ag + BY + Cq+ Dy, = Tq? + 3q? + 3q + Lux where A=T* 447? 48748, B=3T* 447? sP—3, C=3P -4T?-sT4+3, D=P>—4T?+8P-1 © Pearson Education Limited 2004

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