Systems Modelling & Control Tutorial 2

Systems Modelling & Control

Tutorial 2: Laplace Transform Method

Section A
Short Questions
1.1 Explain what is meant by a linear system using the spring as an example.
1.2 Dynamic systems are often modelled as linear ordinary differential equations.
Give on example each of a first-order and a second-order linear differential
equation.
1.3 State the three factors which influence the dynamic response of a system.
1.4 Sketch three common input test signals (or forcing functions).
1.5 What is the significance of the impulse response of a system?
1.6 List the three steps involved in solving an ordinary differential equation using
Laplace transform method.
1.7 Why does Laplace transform method often involve the use of partial fraction
expansion or completing the square?
1.8 Why are transformation methods commonly applied in the solution of
mathematical or engineering problems?
1.9 Give an example of a differential equation which gives rise to each of the
following cases: (a) a pair of real and distinct roots,
(b) a pair of real and repeated roots, and
(c) a pair of complex (conjugate) roots.
1.10 State the relationship between nature of the roots and the response
characteristics of a dynamic system.
1.11 What is the advantage of using a block diagram to represent a system?
1.12 Define the transfer function of a system.
1.13 State the role of computer simulation in system analysis and design.
1.14 Write the Laplace transform F(s) of each of the following time-domain functions:
a) f(t) = 15 b) f(t) = 30e-10t c) f(t) = 20t

d) f(t) = t + 5te-2t e) f(t) = 1 - 3sin 4t f) f(t) = 3e-2tsin 4t.

1.15 Obtain the time domain function f(t) of the following Laplace-domain functions
F(s):
a) F(s) = 20/s b) F(s) = 400/(s+25) c) F(s) = 25/(s+4)2

d) F(s) = 2/s - 2/s2 e) F(s) = s/(s2+9)

5 3
f ) F(s)  g) F( s) 
s(2s  1) s(s  2)

1.16 Obtain the time-domain function f(t) corresponding to the following Laplace-
domain function:
1 1
F(s)  
2(s  2) 2( s  4)
Hence sketch the graph of the function f(t) versus time t.

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1.17 Obtain the transfer function of each of the systems modelled by the differential
equations:
dy(t)
a) 4  3y( t)  10q(t) where y(t) is output, q(t) is input, y(0) = 0
dt
dm(t)
b) 6  m( t)  2p( t) where m(t) is output, p(t) is input, m(0) = 3
dt

Question 2
Obtain the Laplace transforms F(s) of the following time-domain functions f(t):
(a) f ( t)  7. 8 (b) f ( t)  3. 2 cos 1000 t

(c) f ( t )  120 sin 25 t (d) f ( t )  18 t

(e) f ( t )  16 e 8 t (f) f ( t )  9 e 3 t sin100 t

(g) f ( t )  8. 2 te 2.5 t (h) f ( t )  5 e 7 t cos 50 t

d2 x dx dx(0)
(i) f ( t )  8 2
 5 , where  8, x(0)  4
dt dt dt

(j) f ( t )  12  x( t ) dt  17 x( t )

Question 3
Obtain the time-domain function f(t) of the following Laplace-domain functions F(s):
6. 7 25
(a) F( s)  2 (b) F( s)  2
s s  2
45 345
(c) F( s)  (d) F( s) 
s  72 s
650 250
(e) F( s )  (f) F( s ) 
(s  8) 2
( s  4 )2   2
82 16( s  5 )
(g) F( s )  (h) F( s ) 
s( 5 s  1) ( s  5 )2   2

Question 4
Using partial fraction expansion, find the time function f(t) corresponding to each of
the following functions F(s):
4( s  5 )( s  7 ) 2( s  5 )
(a) (b)
s( s  3 )( s  6 ) ( s  1)2
s2 10
(c) (d)
s  2s  4
2
s (1  0. 5 s)
2

s s 1
(e) (f)
s  4s  20
2
s(s  2s  3)
2

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Section B

Question 5
For the RC circuit shown in Fig 5, R = 6 k and C = 50 F. From time t = 0, a DC
voltage v(t) = 2 V is applied to the circuit. It may be assumed that the voltage across
the capacitor vC(t) = 3 V at time t = 0.
(a) Show that the differential equation relating vC(t) to v(t) is given by
dv (t )
0.3 c  v c (t )  v( t)
dt
(b) Apply Laplace transform method to obtain an expression for voltage across the
10
capacitor vC(t). Ans: Vc(t) = 2 + e- 3
t

(c) Sketch the dynamic response of the system, ie. the approximate curve for vC(t).

i(t)

Fig 5 vc(t)
v(t)

Question 6
Consider again the RC circuit shown in Fig 5, the resistance is 2 M and the
capacitance 2 F. From time t = 0, the circuit is subject to an input voltage v(t) = 2t V,
ie. a ramp voltage which increases at the rate of 2V every second. It may be
assumed that the voltage across the capacitor vC(t) = 0 at time t = 0.
(a) Show that the differential equation relating vC(t) to v(t) is given by
dv ( t )
4 c  v c ( t )  v( t )
dt
(b) Apply Laplace transform method to obtain an expression for the change of
1
voltage across the capacitor vC(t) with time. Ans: Vc(t) = - 8 + 2t + 8e- 4t
(c) Sketch the dynamic response of the system, ie. the approximate curve for vC(t).

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Question 7
(a) Fig 7 shows an electrical system with the following parameter values: L= 10 H, R
= 50 , and C = 0.01 F.
i1(t) i2(t)

i3(t)

Fig 7 v(t) vc(t)

(i) Write the system and element equations.

(ii) Hence, obtain the differential equation relating the voltage across the
capacitor, vc(t), to the input voltage, v(t), in terms of the parameters L, R and
C.
(iii) By substituting the given parameter values, show that the mathematical model
for this specific system is given by:
d2 v C (t ) dv C ( t )
2  10v C ( t )  10v( t )
2 dt
dt
(b) A DC voltage v(t) = 12 volts is applied to the system in (a) for t  0. It may be
assumed that vC(t) and vL(t) are both zero initially.
(i) Obtain by Laplace transform method an expression for the voltage across
the capacitor, vC(t). Ans: Vc(t) = 12 - 12e-t cos 3t - 4e-t sin 3t

(ii) Sketch the time-domain response of the system as output vC(t) vs time t.

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Question 8
Fig 8 shows a mechanical system with the parameter values m = 1 kg, b = 3 Ns/m,
and k = 2 N/m. For time t  0, a force of 10 N is applied. At the instant when the force
is applied, the mass is released from a position 1 m to the right of its equilibrium
position, at an initial velocity of 1 m/s.

Fig 8

(a) Apply Laplace transform method to obtain an expression for the displacement x(t)
5 7 3
for all t  0. Ans: X(s) = - +
s s+1 s+2

(b) Sketch the approximate response curve, indicating clearly the initial conditions
and the steady-state value.

(c) Show that the output displacement x(t) reaches about 98% of its steady-state
value after 4.5 seconds. Ans: x(t) = 4.92m

Question 9
Consider again the mechanical system of Fig 8. Assume the parameter values
m = 1 kg, b = 2 Ns/m, and k = 5 N/m. For time t  0, a force of 3 N is applied.
(a) Assuming zero initial conditions, apply Laplace transform method to obtain an
expression for the displacement x(t) for all t  0.
3 3 3
Ans: x(t) = - e-t cos 2t - e-t sin 2t
5 5 10

(b) Sketch the approximate response curve, indicating clearly the initial conditions
and the steady-state value.

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Question 10
Fig 10 shows a suspension system of a particular model of car with the following
parameter values: m = 250 kg (mass supported by one suspension), b = 2 000 Ns/m,
and k = 100 000 N/m.
Assuming zero initial conditions,

(a) apply Laplace transform method to obtain the time response of the output
displacement xo(t) for a unit impulse input xi(t) (simulating the car running over a
hump). Ans: xo(t) = 8e-4t cos 19.6t + 18.8e-4t sin 19.6t
(b) sketch the approximate response curve.

xo(t)

xi(t)
Fig 10

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