CONTROL SYSTEMS

Module No.: 01

Linear Constant – Coefficient Differential Equations

February 21, 2019 February 21, 2019

DATE PERFORMED DATE SUBMITTED

Name:
Terminal No.:
Course/Sec: Grade
Procedure

1. Determine the homogeneous solutions of the following differential equations:

d 2 c (t) dc(t)
a. 2
+6 +13 c(t )=r (t )
dt dt

Auxiliary equation: m 2 +5 m+13=0

MATLAB Command: roots([1 6 13])

Roots of m: −3 ± 2i
−3 t
Homogeneous Solution: Y c(t )=e ( C1 cos 2 t+C 2 sin 2 t)

d 2 c (t) dc (t )
b. 2
+10 + 25 c(t) =r (t )
dt dt

Auxiliary equation: m 2 +10 m+25=0

MATLAB Command: roots([1 10 25])

Roots of m: -5, -5
−5 −5 t
Homogeneous Solution: Y c(t )=C 1 e +C 2 e

d 2 c (t) dc (t )
c. 2
+10 + 21=r (t)
dt dt

Auxiliary equation: m 2 +10 m+21=0

MATLAB Command: roots([1 10 21])

Roots of m: -7, -3
−7 t
Homogeneous Solution: Y c(t )=C 1 e +C 2 e−3t

d 2 c (t) dc (t )
2. Find the particular solution c p (t ) of 2
+10 + 21=r (t) if
dt dt
2
a. r (t)=−1+ 2t
−125 40 2
Y p (t )= − t + t2
9261 441 21
−5 t
b. r (t)=15 e
−15 −5t
Y p (t )= e
4
π
c. r (t)=10cos ⁡(3 t− )
4
 10 π 25 π
Y p (t )=
87 ( )
cos 3t− + sin 3 t−
4 87 4 ( )
d 2 c (t) dc (t )
3. Find the total solution c p (t ) of 2
+10 + 21=−1+2 t 2 if all initial conditions are zero.
dt dt
−45 −7 t 5 −3 t 125 40 2 2
Y T (t) = e + e − − + t
1372 108 9261 441 21

d 2 c (t) dc (t )
4. Using Laplace transform method, determine the total solution of 2
+10 + 21=−1+2 t 2
dt dt
. All initial conditions are assumed zero.
4−s2
R(s):
s3
−s 2+ 4
C(s): 3 2
s (s +10 s+ 21)
−45 −7 t 5 −3 t 125 40 2 2
c(t): e + e − − + t
1372 108 9261 441 21

5. Find the positions of the poles and zeroes of the transfer function given below
3 s2 +6 s+3
G ( s )=
4 s2 16 s +20
Poles: −2 ±i
Zeroes: -1,-1
Plot:

Figure 1.1 Pole-Zero Map of G(s)

 6. Given the position of the poles and zeroes of a system, generate the transfer function of the
system.

Figure 1.2 Pole-Zero Map of G1(s)

s 2 +4 s+3
Transfer function, G1(s)= 3
s + 6 s 2+ 10 s+ 8
7. Solve c(t) using partial fraction expansion of the system given below
s−5
a. C ( s ) =
s ( s−2 )( s+3 )
Partial Fraction expansion:

−0.5333 0.3000 0.8333

− +
s +3 s−2 s
Inverse Laplace transform:

−3 2 t 8 −3t 5
e − e −
10 15 6
 5
b. C ( s ) =
( s+2 ) ( s +3 )3
Partial Fraction expansion:

−0.6250 1.2500
−
s+ 4 ¿¿

Inverse Laplace transform:

5 −2 t 5 t 2 −4 t 5 t −4 t 5 −4 t
e − e − e − e
8 4 4 8

s3
c. C ( s ) = 2
s ( s2 +9 ) ( s−2 )
Partial Fraction expansion:

−0.1065 ±0.0444 i 0.2130 0.3077

− +
s±3i s−2 s−2
Inverse Laplace transform:

4 t 2 t 36 2 t 36 15
e + e − cos (3 t ) + sin(3 t)
13 169 169 169
8. Using ilaplace command, verify your answers to (7).
−3 2 t 8 −3t 5
a. e − e −
10 15 6
2
5 5 t −4 t 5 t −4 t 5 −4 t
b. e−2 t − e − e − e
8 4 4 8
4 t 2 t 36 2 t 36 15
c. e + e − cos (3 t ) + sin(3 t)
13 169 169 169
 Seat Work:

Integro-differential equations:
1
−3
d i (t ) 1
24=25 i ( t ) + ( 10∗10 ) + ∫ i(t)dt
dt (10∗10−6 ) 0

Laplace Transform:

24
=( 100∗1 0−9 s 2 +250 x 10−6 s+1 ) Vc(s)
s
Vc(s):

24
Vc (s)=
( 100∗1 0 s +250 x 10−6 s2 + s )
−9 3

Using plot command, plot vc(t).

Commands:

>> roots([1 6 13])

ans =

-3.0000 + 2.0000i

-3.0000 - 2.0000i

>> roots([1 10 25])

ans =

-5

-5

>> roots([1 10 21])

ans =

-7

-3

>> roots([3 6 3])

ans =

-1

-1

>> roots([4 16 20])

ans =

-2.0000 + 1.0000i

-2.0000 - 1.0000i

>> H = tf([3 6 3],[4 16 20])

H=

3 s^2 + 6 s + 3

-----------------

4 s^2 + 16 s + 20

Continuous-time transfer function.

>> pzmap(H)

Warning: MATLAB has disabled some advanced graphics

rendering features by switching to software OpenGL.

For more information, click here.

>> A=poly([-4 -1+i -1-i])

A=

1 6 10 8

>> B=poly([-3 -1])

B=

1 4 3

>> residue([1 -5],[1 1 -6 0])

ans =

-0.5333

-0.3000

0.8333

>> [r,p,k]=residue([1 -5],[1 1 -6 0])

r=
 -0.5333

-0.3000

0.8333

p=

-3

k=

[]

>> syms s t

>> ilaplace((s-5)/(s*(s-2)*(s+3)))

ans =

5/6 - (8*exp(-3*t))/15 - (3*exp(2*t))/10

>> [r,p,k]=residue([5],[1 14 72 160 128])

r=

-0.6250

-1.2500
 -2.5000

0.6250

p=

-4.0000

-4.0000

-4.0000

-2.0000

k=

[]

>> ilaplace((5)/((s+2)*(s+4)^3))

ans =

(5*exp(-2*t))/8 - (5*exp(-4*t))/8 - (5*t*exp(-4*t))/4 - (5*t^2*exp(-4*t))/4

>> [r,p,k]=residue([1 0 0 0],[1 -4 13 -36 36 0])

r=

-0.1065 - 0.0444i

-0.1065 + 0.0444i

0.2130 + 0.0000i
 0.3077 + 0.0000i

0.0000 + 0.0000i

p=

0.0000 + 3.0000i

0.0000 - 3.0000i

2.0000 + 0.0000i

2.0000 + 0.0000i

0.0000 + 0.0000i

k=

[]

>> ilaplace((s^3)/((s*(s^2+9)*(s-2)^2)))

ans =

(36*exp(2*t))/169 - (36*cos(3*t))/169 + (15*sin(3*t))/169 + (4*t*exp(2*t))/13

>>