Representation and Analysis of Dynamic Systems

Lab 1
Exercise 1: basic properties of the Laplace transform
1.1 Given a signal u(t) and its Laplace transform U(s) write the delay theorem, the final value theorem, the initial
value theorem, the derivation theorem and the integration theorem.

1.2 Give the Laplace transform of the three basic signals (): impulse, unit step and exponential () =  

1.3 Compute the Laplace transform of () = cos(ωt) (hint : express  as the sum of two exponentials)

Exercise 2: basic exercises with the Laplace transform

A system with input () and output () (Laplace transforms () and ()) is known by a simple differential
equation:
()
 + () = ()

Initial condition: (0) = 0

2.1 What is the unit of a? For the following take  = 2

()
2.3 Compute the transfer function () = ()
and create the transfer function F with Matlab

2.4 Compute the output () when the input is an impulse at  = 0. Compare with the impulse response obtained
with Matlab (impulse)

2.5 Compute the output () when the input is unit step at  = 0. Compare with the step response obtained with
Matlab (step)

Exercise 3: a bit more complicated with the Laplace transform

3.1 Compute the output () when the input () is an impulse for the following cases:
1 1 1 1 + 2
! () = (), $ () = (), ' () = (), ( () = (),
(1 + 2) (1 − 3) (1 + 10)(1 + ) (1 + 10)(1 + )
1 − 2
) () = ()
(1 + 10)
Hint: decompose the rational fractions as a sum of simple ones

3.2 Plot () using Matlab

3.3 Compute the output () when the input () is unit step for the following case:
1
! () = (),
1 + 2
Exercise 4: bloc-diagram manipulation
A system is described by a bloc diagram as in figure 1. This system as two inputs (reference *(), and perturbation
+()) and one output y().
 * EZciSE 1 I
.

2
u(t) -> u(s)

-S
X
-

DELAY a(t -

[) - e u(s)

Sple asI- ts)

:

D
bin u() -him S .
UC
EU I u

t + 1
S + 0
Final valle
:

lim UH) =
1 = him s-H2S)
t1x S+ 0

EUT
↓
lin
+ Ot UlH=li
sus i samp - Ulot= lais U en
S + D
.

1 -bin
=

1
1 b 1t
=
5+
+
0
&
alot = 1

jump from
4 0 to 1

AUH
DER 7 .
.
= s .
u(s) -ULO
↳ Sufeneral -
steady State before stu

Cappels .

-> exp- 1 order

ExtUJE ! 2 - 2
I R
-E
ret
lis Es
e
1
=
.

[
s

-
E
s
-
at
2

=> ECISE 1 3 .

cos (rt) + isin int = eint-> 1 =

S + iw
-Stin -

S-iw 52 +w
<S iw)
-

(stinb

⑧
W
- Ti
-2 + W2 52+ W

-> zed order

ExExisE 2

a a +

y= art) - tr we can use & thanks to

lincanty .

2 1 .
. Seconds

2 5 .
.
trauster function
into
only gives
s[(s) Y (0)] en e
timtic

+Tot htt
a . -
+
y(s) =

u(S) -Son

↳ yis =
as andno
>
 a
2 Y . .
ac= OCH >
-
yIt =s

↳ Uls=1 - 4151- Is u(s)

-415) =

#2s
if comfortelle
⑧
not -
-
al This ,
one las
always +22
compute ine inital y =
e C

value theoreve
↳ And bin S
.

k(s)
S-D

I
Es =
2-r ult= mit step -u(s) =
- 4(s) =

=
sz

stas -

#+
25) BS

O
1 A(1 + +
=

3s(5 !294151 8
-
1 =

A +
2as +
=

5+ -

ItIs

Perform ↓
latee
Step
sigual
Auginmerse y(t)
en e

exp
--
.

signal
= fr -

-2
Y 2) y(t Step e
yzt
= =
-

y(t) x
S
. . . .

R
-

42
-> slept

↓
e
y(t)
=

usueally - -

f
A
6840

15 =

2
&

I
E
->↑
I t

I
-2
-e
-

Gestep
EXERCISE 3

1 +
2S
① Yy(s=
(1 +

10s)(( +

s)

1 +
2S A B A

(1 +

s) +

13((F 10s)
= I -

(1 +

10s) (1+s) 1 +

10S 1+ S (1 +

10s)(1 s)
+

A
1870
1 + 25
=

+
As + B +
BIOS
y(04 2
=

↳ solre A 319
C

E
=
·

for
B =
Y +

s
+
B +

B10s y(x =

↳ 14
ta s
-

B)
E
S
=

C + 170s
y 11 =

1- 25
413 43
& Y5(s)
y(t 6132 0 2
-
-

= - = -
.

14 Os 17 S
(1 +

10s)(1 +

3)
↓ L
-10 y5161 0
=

Iet
-

↳ Y 52H =
1e -

38

ult =
Step
UCS = Ys
25
1
2(y5(t)
-

Y=(s)
=

-(( + 10s)(1 +

s)
but 2 (y5 (E)) ?

C
↳
knowing ((y51) 2 (y'51)
cau be
1- 25
& (yf(4) =

s -

predicted
tr 511 +

10s) (1 +

S)
Derition
Thecrem

-I
1 2S

[⑧
-

gitsess
-bein S ↳

S 11 +

(0))(ItS)

Fi Climit theorem)
 ↳ we're
intereted in this

4.1 Find ! (), $ (), ' (), and ( () such as:

() = ! (),() + $ -()

() = ' (),() + ( -()

1
+ 1 + 3

+
* 1 + 1 + 1

1+  1 + 10 
−

1 + 10
1 + 20

Figure 1
4.2 Is the system stable?

4.2 Plot () and () when the input *() is a unitary step. Idem when the perturbation +() is a unitary step. Find
the final value using Matlab and by formal calculation (final value theorem).

Exercise 5: final and initial value theorem

⑰Y
We want to analyze the time response () of a system to a unitary step impulse. The transfer function is:
1−
() =
(1 + 2)(1 + 10)
1. What is the final value of ()?

2. Analyze the time response near  = 0

3. Plot the time response

 A B

0
d
E 2
B C D
5

a
er
[
-

end
Start from the

y =
D(A-P +
c(BR -

=Y)
G have Y's the
left-hand sie
Rearrange all
to ou .

y =
D .
x

=
D( , +

r)

D(AP +
c - E)
= (AP +

c .

(f - ))
=>

D(Ap +
((B .

R -

EY))