The complete solution to systems with inputs

Eytan Modiano

Eytan Modiano
Slide 1
 Learning Objectives

• Analyze linear time-invariant systems with inputs

– Solve for the homogeneous response of the system

Natural response without inputs

– Solve for the particular solution

Identify forced response for different input functions

– Obtain the complete solution using initial conditions

Complete solution = homogeneous solution + particular solution

– Derive the transfer function

Eytan Modiano
Slide 2
 Systems with input

• In general, systems have inputs

– Applied force in mechanical systems
– Voltage and current sources in circuits
E.g., battery, power-supply, antenna, scope probe, etc.

• Systems also have outputs

– Displays, speakers, voltmeters, etc.

• We need to be able to analyze the system response to inputs

– Two methods:

Solution to linear constant-coefficients differential equations

Transfer function methods

Eytan Modiano
Slide 3
 Linear constant coefficient differential equations

dx(t)
• E.g., + 2x(t)=!u(t)
dt
• Where x is the state variable and u is the input

• The complete solution is of the form:

x(t)=!x p (t) + xh (t)

where!x p !is!the!particular!solution!(when!input spefified)
and x h !is!the!homogeneous!solution!to!the!DE!when!u(t) = 0

dx(t)
!!!!!!!!!!!!!!!!!!!!!!!!i.e.,! + 2x(t)= 0
dt
• Thus far we have only considered homogeneous systems
Eytan Modiano
Slide 4
 The particular solution

dx(t) "0 t<0

+ 2x(t)= u(t),!!!!u(t) = # 3t
dt $e t!0

• A common method for solving for the particular solution is to try a

solution of the same form as the input
– This is called the “forced response”

• So try, x p (t) = ae3t !!

• To solve for the constant a, we plug the solution to the original
equation

dx(t)
+ 2x(t)= e3t ! 3ae3t + 2ae3t = e3t ! a = 1 / 5
dt
e3t
Particular!solution :!!x p (t)= ,!!t > 0
Eytan Modiano
Slide 5
5
 The complete solution

homogeneous!solution:!!!xh (t) = Best !!

Bsest + 2Best = 0!!!!Bs + 2B = 0 ! B(s + 2) = 0 ! s = "2
! xh (t) = Be"2t !

e3t
x(t)!=! + Be"2t !!!,!!t > 0
5
In order to solve for B, must know initial conditions.
e0 1
E.g., x(0)!=!0 ! + Be = 0 ! B = "
0

5 5

1 3t
x(t) = #$ e " e"2t %& ,!!!t > 0
Eytan Modiano
Slide 6
5
 Key points

• Solution consists of homogeneous and particular solution

– Homogeneous solution is also called the “natural response”
It is the response to zero input

– The particular solution often takes on the form of the input

It is therefore referred to as the “forced response”

• The complete solution requires specification of initial conditions

– An nth order system would have n initial condition

– Apply initial conditions to the complete solution in order to obtain the

constants
The initial conditions are on the complete solution, not just the
homogeneous part

Eytan Modiano
Slide 7
 Example: RC circuit with inputs

e1
= !i1 - Vc
R +

dv1 i1 dv1 !e1 i1

= " = !5t
u(t) = e
+ C
R
dt C dt RC - Y(t)
e1 (t) = v1 (t) + u(t)
dv1 !v1 (t) u(t)
" = ! C = 1 F, R = 1 ohm
dt RC RC
dv1
!C=1, !R=1 " = !v1 (t) ! u(t)
dt

Homogeneous!Solution:!!u(t) = 0
Guess!v1 (t) = aest ! asest = "aest ! as = "a ! s = "1
Eytan Modiano
! vH = ae"t
Slide 8
 The complete solution

Forced!Response: vF (t) = Be!5t ,! v!F = !5Be!5t

dv1
= !v1 (t) ! u(t) " !5Be!5t = !Be!5t ! e!5t
dt
e!5t
" !5B = !B ! 1 " B = 1 / 4 " vF (t) =
4
!5t
e
v1 (t) = vH (t) + vF (t) = ae!t +
4
0
e 1 1
Initial!conditions:!v1 (0) = 0v " ae + " a + = 0 " a = !
0

4 4 4
!e!t + e!5t e !5t
! e !t
v1 (t) = ,!!y(t) = v1 (t) + u(t) = e!5t +
4 4

Eytan Modiano
Slide 9
 Example: RLC circuit with inputs
R

+
i1 + + i2
u(t) = 1V C v1 v2 L
- Y(t)
- -

Initial!conditions:!!Vc (0) = !2V,! iL (0) = 2A

Output = Y(t) = Voltage across inductor = v2 (t)

v1 (t) ! u(t) v1 u
Node!equation!at!v1 : + i1 + i2 = 0 " i1 = + ! i2
R R R
dv1 i1 dv1 v1 u i2
= " = + !
dt C dt CR CR C
di2 1 v1
= v2 =
Eytan Modiano
Slide 10
dt L L
 The homogeneous solution
(aka: the natural response)

d ! v1 $ ! '1 / RC '1 / C $ ! v1 $ !1 / RC $
# & =# & # & +# & u(t)
dt " i2 % " 1 / L 0 % " i2 % " 0 %
homogeneous solution: take u(t)=0
d ! v1 $ ! '1 / RC '1 / C $ ! v1 $
# & =#
dt " i2 % " 1 / L 0 &% #" i2 &%
!## #"### $
A

! -2 -1$ ! s+2 1$
Let!C=1 F,!R=1/2 ",!L=2 H ( A= # & ( SI ' A = # &
"1/2 0 % " -1/2 s %
characteristic equation: s 2 + 2s + 1 / 2 = 0
1 1
( s1 = '1 + , s1 = '1 '
2 2
Eytan Modiano
Slide 11
Natural!response:!!e('1+1/ 2 )t
,!!e('1'1/ 2 )t
 The homogeneous solution, continued

Finding the eigen-vectors:

# ! 2 & # ! 2 &
s1 = !1 +
1 % (
" E = % 2 + 1 ( , !!s 2 = !1 !
s1 1
" E s2 = %% 2 ! 1 ((
2 2
%$ 1 (' %$ 1 ('

! 2 (!1+ ! 2 (!1!
1 1 1 1
)t )t (!1+ )t (!1! )t
v1n = a( )e 2
+ b( )e 2
,!!i2n = ae 2
+ be 2

2 +1 2 !1

Complete!solutions:!!v1 = v1n + v1 f ,!!!i2 = i2n + i2 f

Eytan Modiano
Slide 12
 The particular solution
(aka: the forced response)

u(t) = 1v
The forced response would be a constant. I.e., v1 f = A,!i2 f = B
dv1 f !v1 f
u i2 !A 1 B
=0= + ! = + !
dt RC RC C RC RC C

C = 1F, R = 1 / 2", L = 2H # 0 = 2A + 2 ! B # 2A + B = 2

di2 f
v1 A
= = = 0 # A = 0 # v1 f = 0V
dt L L
2A + B = 2 # B!= 2 # i2 f = 2A

Eytan Modiano
Does this solution make sense?
Slide 13
 The complete solution

Initial!conditions:v1 (0) = 2,!i2 (0) = 2

Complete!solutions:!!v1 = v1n + v1 f ,!!!i2 = i2n + i2 f
! 2 ! 2
1 1
(!1+ )t (!1! )t
v1 = a( )e 2
+ b( )e 2
+0
2 +1 2 !1
1 1
(!1+ )t (!1! )t
i2 = ae 2
+ be 2
+2
! 2 ! 2 #
v1 (0) = 2 " a( ) + b( ) = 2% 1 !1
2 +1 2 !1 $"a= ,!!b =
% 2 2
i2 (0) = 2 " a + b = 2 " a = !b &
!1
1 1
(!1+ )t 1 (!1! )t
Forced response, v1f = 0
v1 (t) = e 2
+ e 2

2 +1 2 !1
1 1 Forced response, i2f = 2
1 (!1+ )t 1 (!1! )t
Eytan Modiano
Slide 14 i2 (t) = e 2
! e 2
+2
2 2