ELEN90055 Control Systems

Worksheet 2 - Solutions to Starred Problems

1. (a ∗ ) f (t) = 1 + 2t + t 2 + δ (t)

F(s) = L { f (t)} = L {1} + L {2t} + L {t 2 } + L {δ (t)}

1 2 2!
= + 2 + 3 +1
s s s

(b ∗ ) f (t) = (t + 3)2
2 6 9
f (t) = (t + 3)2 = t 2 + 6t + 9 ⇒ F(s) = 3
+ 2+ .
s s s

(c ∗ ) f (t) = t sint

We use the multiplication by time property of Laplace transform:

dG(s)
L {tg(t)} = − .
ds
We start with g(t) = sint. From the Laplace transform table we have
1
L {sint} = .
s2 + 1
Then we use the above multiplication by time property and obtain
 
d 1
L {t sint} = −
ds s2 + 1
2s
= 2
(s + 1)2

2. (a ∗ ) F(s) = 1
s(s+1)

We first perform partial fraction expansion. There are two ways to do it:
Method 1. Cross multiplication:

1 A B A(s + 1) + Bs (A + B)s + A
F(s) = = + = =
s(s + 1) s s+1 s(s + 1) s(s + 1)
⇒ A = 1, B = −1

1
 Method 2. Direct formulas:
1
A = lim s =1
s→0 s(s + 1)
1
B = lim (s + 1) = −1
s→−1 s(s + 1)

Then using the Laplace transform table we have

f (t) = L −1 {F(s)} = 1(t) − e−t

s2
(b ∗ ) F(s) = 2
s +1

Note that the transfer function is not strictly proper. So we first write F(s) as

s2 s2 + 1 − 1 1
F(s) = 2
= 2
= 1− 2
s +1 s +1 s +1
⇒ f (t) = δ (t) − sint

(c ∗ ) F(s) = 3s+2
s2 +4s+20
= 3s+2
(s+2)2 +16

We will use L {sint}, L {cost} and the shift in frequency property of the Laplace
transforms:
3s + 2 (s + 2) − 4/3 s+2 4
F(s) = 2
=3 2 2
=3 2 2
−
(s + 2) + 16 (s + 2) + 4 (s + 2) + 4 (s + 2)2 + 42
⇒ f (t) = 3e−2t cos 4t − e−2t sin 4t

s2 +2s+3
(d ∗ ) F(s) = (s+1)3

We first do partial fraction expansion using the following two methods.

Method 1. Cross multiplication:

s2 + 2s + 3 B1 B2 B3
F(s) = 3
= + 2
+
(s + 1) s + 1 (s + 1) (s + 1)3
B1 (s + 1)2 + B2 (s + 1) + B3
=
(s + 1)3

⇒ s2 + 2s + 3 = B1 (s2 + 2s + 1) + B2 (s + 1) + B3
= B1 s2 + (2B1 + B2 )s + B1 + B2 + B3

2
 ⇒ B1 = 1
2B1 + B2 = 2 ⇒ B2 = 0
B1 + B2 + B3 = 3 ⇒ B3 = 2

Method 2. Direct formulas:

1 3
B B11 B12 B13
F(s) = ∑ ∑ (s +k`1)` = s + 1 + (s + 1)2 + (s + 1)3
k=1 `=1

where
 3−`  2 
1 d 3 s + 2s + 3
B1` = lim (s + 1)
(3 − `)! s→−1 ds3−` (s + 1)3
 3−` 
1 d 2 
= lim s + 2s + 3
(3 − `)! s→−1 ds3−`

So we obtain that
 2 
1 d 2 
B11 = lim s + 2s + 3 = 1
2 s→−1 ds2
 
d 2 
B12 = lim s + 2s + 3 = lim 2s + 2 = 0
s→−1 ds s→−1
2


B13 = lim s + 2s + 3 = 2
s→−1

and F(s) can be written as

s2 + 2s + 3 1 2
F(s) = 3
= + .
(s + 1) s + 1 (s + 1)3
We now find the inverse Laplace transform of this function.
 
−1 1
L = e−t
s+1
   
−1 d 1 −1 1
L − =L = te−t
ds s + 1 (s + 1)2
   
−1 d 1 −1 2
L − =L = t 2 e−t
ds (s + 1)2 (s + 1)3
⇒ f (t) = e−t + t 2 e−t .

3
3. (a ∗ ) ÿ(t) − 2ẏ(t) + 4y(t) = 0; y(0) = 1, ẏ(0) = 2

s2Y (s) − sy(0) − ẏ(0) − 2 sY (s) − y(0) + 4Y (s) = 0

⇒ Y (s) s2 − 2s + 4 = sy(0) + ẏ(0) − 2y(0) = s

√
s s s−1 1 3
⇒ Y (s) = 2 = 2
= 2
+√
s − 2s + 4 (s − 1) + 3 (s − 1) + 3 3 (s − 1)2 + 3
√ 1 √
⇒ y(t) = et cos 3t + √ et sin 3t
3