MAE 171A Homework #1 Solutions

Summer 2014
Solution 1:
In each of these problems, if the poles are stable, we may apply the Final Value Theorem.
(a) The output transfer function is given by
Y (s) = G(s) U(s) =
s + 1
s

s +
1
2

(s + 3)
.
Since all the poles of sY (s) are stable (in the left hand plane (LHP) of the complex
plane), we can simply apply the Final Value theorem,
y() = lim
s0
sY (s)
= lim
s0
s + 1

s +
1
2

(s + 3)
=
2
3
Therefore, as t , y(t)
2
3
. The gure below shows the step response.
0 1 2 3 4 5 6 7 8 9 10
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
Step Response
Time (seconds)
A
m
p
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t
u
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Figure 1: Step response for Problem 1(a)
(b) The Laplace transform of an impulse is simply 1, so
Y (s) = G(s) 1 =
s + 1

s +
1
2

(s + 3)
.
Since all the poles of sY (s) are in the LHP, we may use the Final Value Theorem. Thus,
y() = lim
s0
sY (s) =
s(s + 1)

s +
1
2

(s + 3)
|
s=0
= 0 .
1
0 1 2 3 4 5 6 7 8
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Impulse Response
Time (seconds)
A
m
p
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t
u
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Figure 2: Impulse response for Problem 1(b)
(c) The Laplace transform of an impulse is simply 1, so
Y (s) = G(s) 1 =
s + 1

s
1
2

(s + 3)
.
Since we have one unstable pole (s =
1
2
is in the RHP), we can use partial fraction
expansion to determine y(t). Doing such yields
y(t) =
3
7
e
1
2
t
+
4
7
e
3t
which shows that as t , y(t) . Technically, we did not need to use PF
expansion. Since we determined there was an unstable pole, we know the output diverges.
The gure below show the step response.
0 20 40 60 80 100 120
0
1
2
3
4
x 10
25
Impulse Response
Time (seconds)
A
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p
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u
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Figure 3: Impulse response for Problem 1(c)
2
(d) The Laplace transform of the output is given as
Y (s) = G(s)U(s) =
K
s(s
2
+ a
2
)
.
Since there are a pair of poles on the imaginary axis, s = ja, we must use partial
fraction expansion. This yields
Y (s) =
K
a
2

1
s

s
s
2
+ a
2

,
implying
y(t) =
K
a
2
u(t) (1 cos(at)) .
Therefore, as t , y(t) does not approach a value, but instead approaches the func-
tion, y(t) = 1 cos(at). The gure below shows the step response.
0 10 20 30 40 50 60 70 80 90 100
1
0
1
2
3
4
5
Step Response
Time (seconds)
A
m
p
lit
u
d
e
Figure 4: Step response for Problem 1(d)

Solution 2:
For the following problems, we compute the partial fraction expansion of the output Y (s) =
G(s)
1
s
to a step input.
(a) The output transfer function is given as
Y (s) =
10
s(s + 1)(s + 10)
=
1
s

10
9
1
s + 1
+
1
9
1
s + 10
implying the time domain step response is given by
y(t) =

1
10
9
e
t
+
1
9
e
10t

u(t)
3
0 1 2 3 4 5 6
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Step Response
Time (seconds)
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Figure 5: Step response for Problem 2(a)
(b) The output transfer function is given as
Y (s) =
10s + 9
s(s + 1)(s + 10)
=
9
10
1
s

1
9
1
s + 1

91
90
1
s + 10
implying the time domain step response is given by
y(t) =

9
10
+
1
9
e
t

91
90
e
10t

u(t)
0 0.5 1 1.5 2 2.5 3 3.5 4
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Step Response
Time (seconds)
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Figure 6: Step response for Problem 2(b)
4
(c) The output transfer function is given as
Y (s) =
3s + 3
s(s + 3)
=
1
s
+
2
s + 3
implying the time domain step response is given by
y(t) =

1 + 2e
3t

u(t)
0 0.5 1 1.5 2 2.5 3
1
1.2
1.4
1.6
1.8
2
2.2
2.4
2.6
2.8
3
Step Response
Time (seconds)
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Figure 7: Step response for Problem 2(c)
(d) The output transfer function is given as
Y (s) =
3s + 3
s(s + 3)
=
1
s

4
s + 3
implying the time domain step response is given by
y(t) =

1 4e
3t

u(t)
(e) The output transfer function is given as
Y (s) =
s + 1
s(s
2
+ 1.4s + 1)
=
1
s
+
0.5 j
5
17

0.51
s

0.7 + j

0.51
+
0.5 + j
5
17

0.51
s

0.7 j

0.51

=
1
s

s + 0.4 + (0.3 0.3)
(s + 0.7)
2
+ 0.51
=
1
s

s + 0.7
(s + 0.7)
2
+ 0.51
+
0.3

0.51

0.51
(s + 0.7)
2
+ 0.51
5
0 0.5 1 1.5 2 2.5 3
3
2.5
2
1.5
1
0.5
0
0.5
1
Step Response
Time (seconds)
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u
d
e
Figure 8: Step response for Problem 2(d)
implying the time domain step response is given by
y(t) =

1 e
0.7t
cos(t

0.51) +
0.3

0.51
e
0.7t
sin(t

0.51)

u(t)
0 1 2 3 4 5 6 7
0
0.2
0.4
0.6
0.8
1
1.2
1.4
Step Response
Time (seconds)
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Figure 9: Step response for Problem 2(e)
6
(f) The output transfer function is given as
Y (s) =
s + 1
s(s
2
+ 1.4s + 1)
=
1
s
+
0.5 + j
5
3

0.51
s

0.7 + j

0.51
+
0.5 j
5
3

0.51
s

0.7 j

0.51

=
1
s

s + 2.4
(s + 0.7)
2
+ 0.51
=
1
s

s + 0.7
(s + 0.7)
2
+ 0.51

1.7

0.51

0.51
(s + 0.7)
2
+ 0.51
implying the time domain step response is given by
y(t) =

1 e
0.7t
cos(t

0.51)
1.7

0.51
e
0.7t
sin(t

0.51)

u(t)
0 2 4 6 8 10 12
0.4
0.2
0
0.2
0.4
0.6
0.8
1
1.2
Step Response
Time (seconds)
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Figure 10: Step response for Problem 2(f)

Solution 3:
In general, the transfer function of a second order system is given by
Y (s)
R(s)
=

2
n
s
2
+ 2
n
s +
2
n
.
7
With = 0.5,
n
= 100, and R(s) =
1
s
Y (s) =
10000
s
2
+ 100s + 10000

1
s
=
1
s

s + 100
s
2
+ 100s + 10000
=
1
s

s + 50
(s + 50)
2
+ 100
2
(1 0.5)

50
(s + 50)
2
+ 100
2
(1 0.5)
=
1
s

s + 50
(s + 50)
2
+ 100
2
(1 0.5)

50
(s + 50)
2
+ 100
2
(1 0.5)

3
,
which implies
y(t) =

1 e
50t
cos(50

3t)
1

3
e
50t
sin(50

3t)

u(t)
is the step response. Below is the graph of the solution
0 0.02 0.04 0.06 0.08 0.1 0.12
0
0.2
0.4
0.6
0.8
1
1.2
1.4
Step Response
Time (seconds)
A
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Solution 4:
(a) For G(s) =
120
s
2
+12s+120
, we have
n
=

120 = 2

30. Therefore,
8
=
12
2
n
=
12
4

30
=
3

30
T
s
=
4

n
=
4
3

30
2

30
=
2
3
T
p
=

d
=

2

30

1
9
30
=

2

21
T
r
2


2
n
=

4

30
M
p
= e

1
2
= 0.128
1

0.6
= 0.087
(b) For G(s) =
0.01
s
2
+0.002s+0.01
, we have
n
=

0.01 = 0.1. Therefore,

=
0.002
2
n
=
0.002
0.2
= 0.01
T
s
=
4

n
=
4
0.01 0.1
= 4000
T
p
=

d
=

0.1

1 0.0001

0.1
= 10
T
r
2


2
n
=

0.2
= 5
M
p
= e

1
2
= 0.969
1

0.6
= 0.983
(c) For G(s) =
10
9
s
2
+6280s+10
9
, we have
n
=

10
9
= 10
9
2
. Therefore,
=
6280
2
n
0.0993
T
s
=
4

n
1.27 10
3
T
p
=

d
9, 98 10
5
T
r
2


2
n
4.97 10
5
M
p
= e

1
2
0.731
1

0.6
0.835