Chapter 8: System Analysis Using Laplace Transforms (2nd Edition)

8.1 Find y(t), the inverse Laplace transform of Y(s).

−8
a) Y ( s ) = Two distinct poles at s = 0, –2, so the partial-fraction expansion is
s ( s + 2)
a1 a
Y (s) = + 2
s s+2

−8 −8
The two residues are a1 = sY ( s) s = 0 = = −4 and a2 = ( s + 2)Y ( s) s = −2 = =4
2 −2

−4 4
Therefore Y ( s) = + . Using the inverse Laplace transform Table 8-1 we obtain
s s+2

y(t ) = −4 + 4e−2t

s+6
b) Y ( s ) = Two distinct poles at s = –2, –1 so the partial-fraction expansion is
( s + 2)( s + 1)
a1 a
Y ( s) = + 2
s + 2 s +1

4 5
The two residues are a1 = ( s + 2)Y ( s) s = −2 = = −4 and a2 = ( s + 1)Y ( s) s = −1 = = 5
−1 1

−4 5
Therefore Y ( s) = + . Using the inverse Laplace transform Table 8-1 we obtain
s + 2 s +1

y(t ) = −4e−2t + 5e−t

10s + 4
c) Y ( s ) = Two distinct poles at s = 0, –8 so the partial-fraction expansion is
s( s + 8)
a1 a
Y (s) = + 2
s s +8

4 − 76
The two residues are a1 = sY ( s) s = 0 = = 0.5 and a2 = ( s + 8)Y ( s) s = −8 = = 9.5
8 −8

0.5 9.5
Therefore Y ( s ) = + . Using the inverse Laplace transform Table 8-1 we obtain
s s +8

y(t ) = 0.5 + 9.5e−8t

 Chapter 8

2s + 18
d) Y ( s ) = The two poles are complex: s = −4  j 2 . Complete the square
s + 8s + 20
2

2s + 18 2( s + 4) (5)(2)
Y ( s) = = +
( s + 4) + 2
2 2
( s + 4) + 2 ( s + 4) 2 + 22
2 2

Using the inverse Laplace transform Table 8-1 (entries 10 and 11) we obtain

y(t ) = 2e−4t cos 2t + 5e−4t sin 2t

6s 2 + 4s + 22
e) Y ( s ) = The three poles are s = 0, s = −1  j 2 . Expand and complete the
s( s 2 + 2s + 5)
square
a1 a ( s + 1) a3 (2)
Y ( s) = + 2 2 +
s ( s + 1) + 2 ( s + 1) 2 + 22
2

22
The first residue is a1 = sY ( s) s = 0 = = 4.4
5

The residues for the complex poles are

6s 2 + 4s + 22
( s + 2s + 5)Y ( s)
2
= = a2 (−1 + j 2 + 1) + a3 (2)
s = −1+ j 2 s s = −1+ j 2

After substituting for s we obtain

6(1 − j 4 − 4) − 4 + j8 + 22 − j16 − 32 16
= = + j = 2a3 + j 2a2
−1 + j2 −1 + j2 5 5

Equating real and imaginary parts we obtain the residues a3 = –16/5 and a2 = 8/5.

Using the inverse Laplace transform Table 8-1 (entries 10 and 11) we obtain

22 8 −t 16
y (t ) = + e cos 2t − e−t sin 2t
5 5 5

2
 Chapter 8

s + 10
f) Y ( s ) = The three poles are s = 0, 0, –4. Expand as partial fractions
s ( s + 4)
2

a1 a2 a
Y ( s) = + + 3
s 2
s s+4

The three residues are

s + 10 10
a1 = s 2Y ( s) = = = 2.5
s =0 s + 4 s =0 4

a2 =
d 2
ds

s Y ( s)  s =0
=
d  s + 10 
  =
1
−
s + 10
ds  s + 4  s = 0 s + 4 (s + 4)2
=
1 10 − 6
− =
4 16 16
= −0.375
s =0

s + 10 6
a3 = ( s + 4)Y ( s) s = −4 = 2
= = 0.375
s s = −4 16

Therefore, the partial-fraction expansion is

2.5 − 0.375 0.375

Y ( s) = + +
s2 s s+4

The inverse Laplace transform is

y(t ) = 2.5t − 0.375 + 0.375e−4t

3s + 12
g) Y ( s ) = The three poles are s = 0,  j 2 . Expand as partial fractions
s ( s 2 + 4)
a1 as a (2)
Y ( s) = + 2 2 2 + 23 2
s s +2 s +2

The three residues are

12
a1 = sY ( s) s = 0 = =3
4
j 6 + 12
a2 s + 2a3 = ( s 2 + 4)Y ( s) = = 3 − j 6 → a2 = –3, a3 = 1.5
s= j2 j2

Therefore, the partial-fraction expansion is

3 − 3s (1.5)(2)
Y ( s) = + 2 + 2
s s +2 2
s + 22

The inverse Laplace transform is

y(t ) = 3 − 3 cos 2t + 1.5 sin 2t

3
 Chapter 8

6s + 40
h) Y ( s ) = The three poles are s = –8,  j5 . Expand as partial fractions
( s + 25)( s + 8)
2

a1 as a (5)
Y ( s) = + 2 2 2 + 23 2
s +8 s +5 s +5
The three residues are
6s + 40 −8
a1 = ( s + 8)Y ( s) s = −8 = = = −0.0899
s + 25 s = −8 89
2

j30 + 40
a2 s + 5a3 = ( s 2 + 25)Y ( s) = = 5.2809 + 0.4498 j
s= j5 j5 + 8
→ a2 = 0.0899, a3 = 1.0562

Therefore, the partial-fraction expansion is

− 0.0899 0.0899s (1.0562)(5)

Y ( s) = + 2 2 +
s +8 s +5 s 2 + 52

The inverse Laplace transform is

y(t ) = −0.0899e−8t + 0.0899cos 5t + 1.0562sin 5t

2s + 8
i) Y ( s ) = The three poles are s = –1, s = –2, s = –2. Expand as partial
( s + 1)( s 2 + 4s + 4)
fractions
a1 a2 a
Y (s) = + + 3
s + 1 ( s + 2) 2
s+2
The three residues are
2s + 8 6
a1 = ( s + 1)Y ( s) s = −1 = = =6
s + 4s + 4 s = −1 1
2

2s + 8 4
a2 = ( s + 2)2 Y ( s) = = = −4
s = −2 s + 1 s = −2 − 1

a3 =
d
ds

(s + 2)2 Y (s)  s = −2
=
d  2s + 8 
  =
2
−
2s + 8
ds  s + 1  s = −2 s + 1 ( s + 1)2
=
2 4
− = −6
−1 1
s = −2

Therefore, the partial-fraction expansion is

6 −4 −6
Y (s) = + +
s + 1 ( s + 2) 2
s+2
The inverse Laplace transform is

y(t ) = 6e−t − 4te−2t − 6e−2t

4
 Chapter 8

2s + 8
j) Y ( s ) = The two poles are s = 0, s = 0. Expand as partial fractions
2s 2
a1 a2
Y (s) = +
s2 s

The two residues are

2s + 8 8
a1 = s 2Y ( s) = = =4
s =0 2 s =0 2

a2 =
d 2
ds

s Y ( s)  s =0
=
d  2s + 8 
ds  2  s = 0
=1

Therefore, the partial-fraction expansion is

4 1
Y ( s) = +
s2 s

The inverse Laplace transform is

y(t ) = 4t + 1

5
 Chapter 8

8.2 Given Y(s) find the final value y() if it exists.

s+4
a) Y ( s ) = The three poles are s = 0, –2, and s = –1.
s( s + 2)( s + 1)

Because two poles lie in the left half of the complex plane (that is, the real parts are negative) and
the third pole is at the origin, the final value exists and we can use the final-value theorem:

s( s + 4) 4
y() = lim sY ( s) = lim = =2 Final value of y(t)
s →0 s →0 s( s + 2)(s + 1) 2

s+7
b) Y ( s ) = The three poles are s = 0, 2, and s = –3.
s( s − 2)( s + 3)

Because the pole at s = 2 lies in the right half of the complex plane (that is, the real part is
positive) the final value does not exist.

3s + 2
c) Y ( s ) = The two poles are s = –3 and s = 5.
( s + 3)(s − 5)

Because the pole at s = 5 lies in the right half of the complex plane (that is, the real part is
positive) the final value does not exist.

2s + 14
d) Y ( s ) = The two poles are − 2  j 4 .
s + 4s + 20
2

Because the two poles lie in the left half of the complex plane (that is, the real parts are negative)
the final value exists and we can use the final-value theorem:

s(2s + 14) 0
y () = lim sY ( s) = lim = =0 Final value of y(t)
s →0 s →0 s + 4s + 20 20
2

2
e) Y ( s ) = The three poles are s = 0 and s = −1.5  j 4.2131.
s( s + 3s + 20)
2

Because two poles lie in the left half of the complex plane (that is, the real parts are negative) and
the third pole is at the origin, the final value exists and we can use the final-value theorem:

s(2) 2
y() = lim sY ( s) = lim = = 0.1 Final value of y(t)
s →0 s →0 s( s + 3s + 20) 20
2

6
 Chapter 8

6s 2 + 4 s
f) Y ( s ) = The three poles are s = –6 and s = −1.5  j 2.7839.
( s 2 + 3s + 10)( s + 6)

Because all three poles lie in the left half of the complex plane (that is, the real parts are negative)
the final value exists and we can use the final-value theorem:

s (6 s 2 + 4 s ) 0
y() = lim sY ( s) = lim = =0 Final value of y(t)
s →0 s → 0 ( s + 3s + 10)(s + 6)
2
60

2s + 9
g) Y ( s) = The four poles are s =  j1.4142and s = −2  j3.4641
( s + 2)(s 2 + 4s + 16)
2

Because the two imaginary poles at s =  j1.4142 lie on the imaginary axis the final value does
not exist.

3s 2 + 18
h) Y ( s ) = The three poles are s = –5 and s = −2  j 2.8284 .
( s + 5)( s 2 + 4s + 12)

Because all three poles lie in the left half of the complex plane (that is, the real parts are negative)
the final value exists and we can use the final-value theorem:

s(3s 2 + 18) 0
y() = lim sY ( s) = lim = =0 Final value of y(t)
s →0 s → 0 ( s + 5)(s + 4s + 12)
2
60

3s
i) Y ( s ) = The two poles are s = −1  j 4.1231.
s + 2 s + 18
2

Because the two poles lie in the left half of the complex plane (that is, the real parts are negative)
the final value exists and we can use the final-value theorem:

s(3s) 0
y() = lim sY ( s) = lim = =0 Final value of y(t)
s →0 s → 0 ( s + 2 s + 18)
2
18

0.5s 2 + 6
j) Y ( s) = The three poles are s = 0, 0, and s = –8.
s 2 ( s + 8)

Because two poles are on the origin the final value does not exist (note that one inverse-Laplace
transform term will be a linear function of time t, which grows to infinity).

7
 Chapter 8

8.3 Given the Laplace transforms Y(s) in Problem 8.2 determine y(0+) via the initial-value
theorem (IVT).

s+4 s( s + 4) s
a) Y ( s ) = IVT: y (0+) = lim sY ( s) = lim = lim 2 = 0
s( s + 2)( s + 1) s → s →  s ( s + 2)(s + 1) s → s

s+7 s ( s + 7) s
b) Y ( s ) = IVT: y (0+) = lim sY ( s) = lim = lim 2 = 0
s( s − 2)( s + 3) s → s → s( s − 2)(s + 3) s →  s

3s + 2 s(3s + 2) 3s 2
c) Y ( s ) = IVT: y (0+) = lim sY ( s) = lim = lim 2 = 3
( s + 3)(s − 5) s → s →  ( s + 3)(s − 5) s → s

2s + 14 s(2s + 14) 2s 2
d) Y ( s ) = IVT: y (0+) = lim sY ( s) = lim = lim =2
s + 4s + 20
2 s → s →  s 2 + 4 s + 20 s → s 2

2 s(2) 2
e) Y ( s ) = IVT: y (0+) = lim sY ( s) = lim = lim 2 = 0
s( s + 3s + 20)
2 s → s →  s ( s + 3s + 20)
2 s → s

6s 2 + 4 s s (6 s 2 + 4 s ) 6s 3
f) Y ( s) = IVT: y(0+) = lim sY ( s) = lim = lim =6
( s 2 + 3s + 10)( s + 6) s → s →  ( s 2 + 3s + 10)(s + 6) s → s 3

2s + 9 s(2s + 9) 2s 2
g) Y ( s) = IVT: y(0+) = lim sY ( s) = lim = lim =0
( s 2 + 2)(s 2 + 4s + 16) s→ s→ ( s 2 + 2)(s 2 + 4s + 16) s→ s 4

3s 2 + 18 s(3s 2 + 18) 3s 3
h) Y ( s) = IVT: y(0+) = lim sY (s) = lim = lim =3
( s + 5)( s 2 + 4s + 12) s→ s→ ( s + 5)(s 2 + 4s + 12) s→ s 3

3s s(3s) 3s 2
i) Y ( s ) = IVT: y (0+) = lim sY ( s) = lim = lim =3
s + 2 s + 18
2 s → s →  s 2 + 2 s + 18 s → s 2

0.5s 2 + 6 s(0.5s 2 + 6) 0.5s3

j) Y ( s) = IVT: y(0+) = lim sY ( s) = lim = lim = 0.5
s 2 ( s + 8) s → s →  s 2 ( s + 8) s → s 3

8
 Chapter 8

6( s + 2)2
8.4 SS The function y(t) has the following Laplace transform: Y ( s) =
s 3 + 5s 2 +  s

a) We can apply the initial-value theorem to the Laplace transform of function y(t):

6( s + 2)2 s
y(0+) = lim sY (s) = lim
s → s → s 3 + 5s 2 +  s

We can factor out s in the denominator and cancel it with the s in the numerator. The result is

6( s + 2)2 6s 2
y(0+) = lim = lim =6
s → s 2 + 5s +  s → s 2

Therefore, the initial value of function y(t) is 6 regardless of the value of the constant . There is
no way to choose  so that the initial value is 3.

b) We can apply the final-value theorem to the Laplace transform of function y(t):

6( s + 2)2 s 6( s + 2) 2 24
y() = lim sY ( s) = lim = lim =
s →0 s →0 s + 5s +  s s→0 s + 5s +  
3 2 2

The final value y () can be adjusted by proper selection of constant . The final value y () =
3 when  = 8

9
 Chapter 8

8.5 SS Given the I/O equations, obtain the response y(t) using Laplace-transform methods.

a) 0.4 y + y = 0 with y(0) = –2

Take the Laplace transform of all terms and incorporate the respective initial conditions

0.4(sY ( s) − y(0) ) +Y ( s) = 0 or (0.4s + 1)Y (s) = −0.8

Solving for the Laplace transform Y(s) we obtain

− 0.8 −2
Y ( s) = =
0.4s + 1 s + 2.5

The inverse Laplace transform yields the response: y(t ) = −2e−2.5t

b) 0.4 y + y = 2u(t ) with u(t) = 0.7U(t), y(0) = –2

Take the Laplace transform of all terms and incorporate the respective initial conditions

1.4 − 0.8s + 1.4

0.4(sY ( s) − y(0) ) +Y ( s) =
(2)(0.7)
or (0.4s + 1)Y ( s) = −0.8 + =
s s s

Solving for the Laplace transform Y(s) we obtain

− 0.8s + 1.4 − 2 s + 3.5

Y (s) = =
s (0.4 s + 1) s ( s + 2.5)

− 2 s + 3.5 1.4 − 3.4

Expand using partial fractions: Y ( s ) = = +
s ( s + 2.5) s s + 2.5

The inverse Laplace transform yields the response: y(t ) = 1.4 − 3.4e−2.5t

c) 2 y + 3 y = u(t ) with u(t) = 4U(t), y(0) = 3

Take the Laplace transform of all terms and incorporate the respective initial conditions

4 6s + 4
2(sY ( s) − y(0) ) + 3Y ( s) =
4
or (2s + 3)Y ( s) = 6 + =
s s s

3s + 2 1.3333 1.6667
Solving for the Laplace transform Y(s) we obtain Y ( s ) = = +
s ( s + 1.5) s s + 1.5

The inverse Laplace transform yields the response: y(t ) = 1.333 + 1.6667e−1.5t

10
 Chapter 8

d) 2 y = 3u(t ) with u(t ) = 4 cos6t , y(0) = 0

Take the Laplace transform of all terms and incorporate the respective initial conditions

2(sY ( s) − y (0) ) =
(3)(4) s 12s
or 2sY ( s) =
s 2 + 36 s + 36
2

Solving for the Laplace transform Y(s) we obtain

6
Y ( s) =
s + 36
2

The inverse Laplace transform yields the response: y(t ) = sin 6t

e) y + 3 y + 2 y = 0.5u(t ) with u(t ) = 0.2U (t ) , y(0) = 0, y (0) = −1

Take the Laplace transform of all terms and incorporate the respective initial conditions

(s Y (s) − sy(0) − y (0)) + 3(sY (s) − y(0)) + 2Y (s) = (0.5)(s 0.2)

2

− s + 0.1
Or (s 2
)
+ 3s + 2 Y ( s) =
s

Solving for the Laplace transform Y(s) we obtain

− s + 0.1 0.05 − 1.1 1.05

Y ( s) = = + +
s ( s + 1)(s + 2) s s +1 s + 2

The inverse Laplace transform yields the response: y(t ) = 0.05 − 1.1e−t + 1.05e−2t

f) y + 5 y + 6 y = 0.5u(t ) with u(t ) = 6 (t ) , y(0) = 0, y (0) = 0

Take the Laplace transform of all terms and incorporate the respective initial conditions (note that
the Laplace transform of the impulse function (t) is unity)

(s Y (s) − sy(0) − y (0))+ 5(sY (s) − y(0)) + 6Y (s) = 3

2

3 3 −3
or Y ( s) = = +
s + 5s + 6 s + 2 s + 3
2

The inverse Laplace transform yields the response: y(t ) = 3e−2t − 3e−3t

11
 Chapter 8

g) y + 4 y + 20 y = 0 with y(0) = 2, y (0) = −0.5

Take the Laplace transform of all terms and incorporate the respective initial conditions:

(s Y (s) − sy(0) − y (0))+ 4(sY (s) − y(0)) + 20Y (s) = 0

2

2s + 7.5
or (s 2 + 4s + 20)Y (s) = 2s − 0.5 + 8 or Y ( s) =
s + 4s + 20
2

2s + 7.5 2( s + 2) (0.875)(4)
Complete the square: Y ( s ) = = +
( s + 2) + 4
2 2
( s + 2) + 4 ( s + 2) 2 + 42
2 2

The inverse Laplace transform yields the response: y(t ) = 2e−2t cos 4t + 0.875e−2t sin 4t

h) 2 y + 12 y + 68 y = 0.5u(t ) with u(t ) = 4U (t ) , y(0) = 1, y (0) = 0

Take the Laplace transform of all terms and incorporate the respective initial conditions:

( )
2 s 2Y ( s) − sy(0) − y (0) + 12(sY ( s) − y (0) ) + 68Y ( s) =
(0.5)(4)
s

2 s 2 + 6s + 1
or (2s 2 + 12s + 68)Y ( s) = 2s + 12 + or Y ( s) =
s s ( s 2 + 6s + 34)

a1 a ( s + 3) a3 (5)
Complete the square: Y ( s ) = + 2 2 2+
s ( s + 3) + 5 ( s + 3) 2 + 52
s 2 + 6s + 1 1
The first residue is a1 = sY ( s) s = 0 = =
s + 6s + 34 s = 0 34
2

The residues for the complex poles ( s = −3  j5 ) are

s 2 + 6s + 1
( s + 6s + 34)Y ( s)
2
= = a2 (−3 + j5 + 3) + a3 (5)
s = −3+ j 5 s s = −3+ j 5

After substituting for s we obtain

(−16 − j 30) + 6(−3 + 5 j ) + 1 − 33

= = 2.9118 + j 4.8529 = 5a3 + j 5a2
− 3 + j5 − 3 + j5

Equating real and imaginary parts we obtain the residues a3 = 0.5824 and a2 = 0.9706.

The inverse Laplace transform is: y(t ) = 0.02942 + 0.9706e−3t cos5t + 0.5824e−3t sin 5t

12
 Chapter 8

i) 20y + 80 y + 260y = 0.8u(t ) with u(t ) = 10 (t ) , y(0) = 0.2 , y (0) = 0.6

Take the Laplace transform of all terms and incorporate the respective initial conditions:

( )
20 s2Y (s) − sy(0) − y (0) + 80(sY (s) − y(0)) + 260Y (s) = (0.8)(10)

0.2s + 1.8
or (20s2 + 80s + 260)Y (s) = 4s + 12 + 16 + 8 or Y ( s) =
s 2 + 4s + 13

0.2s + 1.8 0.2( s + 2) (0.4667)(3)

Complete the square: Y ( s ) = = +
( s + 2) + 3
2 2
( s + 2) + 3 ( s + 2) 2 + 32
2 2

The inverse Laplace transform is: y(t ) = 0.2e−2t cos3t + 0.4667e−2t sin 3t

13
 Chapter 8

8.6 Derive the transfer function G(s) = Y (s) / U (s) for each of the following I/O equations.

In all cases we take the Laplace transform of both sides of the I/O equation with zero initial
conditions and determine the transfer function by forming the ratio of the Laplace transform of
the output Y(s) over the Laplace transform of the input U(s).

a) 0.4 y + y = u(t ) After taking the Laplace transform: 0.4sY (s) + Y (s) = U (s)

Y ( s) 1 2.5
The transfer function is G ( s) = = =
U ( s) 0.4s + 1 s + 2.5

b) 2 y = 3u(t ) After taking the Laplace transform: 2sY (s) = 3U (s)

Y ( s) 3 1.5
The transfer function is G ( s) = = =
U ( s) 2s s

c) y + 3 y + 2 y = 4u(t ) Take the Laplace transform: s 2Y (s) + 3sY (s) + 2Y (s) = 4U (s)

Y ( s) 4
The transfer function is G( s) = = 2
U ( s) s + 3s + 2

d) 20y + 80 y + 260y = 0.8u(t ) + 3u(t )

After taking the Laplace transform: 20s 2Y (s) + 80sY (s) + 260Y (s) = 0.8sU (s) + 3U (s)

Y ( s) 0.8s + 3
The transfer function is G( s) = =
U ( s) 20s + 80s + 260
2

e) 0.1y + 2 y + 18y = 7u(t )

After taking the Laplace transform: 0.1s3Y (s) + 2s 2Y (s) + 18Y (s) = 7U (s)

Y ( s) 7
The transfer function is G( s) = =
U ( s) 0.1s + 2s 2 + 18
3

f) y + 2 y = 4u(t ) After taking the Laplace transform: s 2Y (s) + 2Y (s) = 4sU (s)

Y ( s) 4s
The transfer function is G ( s) = = 2
U ( s) s + 2

14
 Chapter 8

8.7 SS The mathematical model of the mechanical system is

mx + bx + kx = bxin (t )

Taking the Laplace transform (with zero initial conditions) of the model yields

( ms 2
)
+ bs + k X ( s ) = bsX in ( s )

Forming the output/input ratio gives us the system transfer function

X ( s) bs 3s
G(s) = = =
X in ( s ) ms + bs + k 0.2s + 3s + 10
2 2

Note that we have substituted the mechanical parameters m = 0.2 kg, b = 3 N-s/m, and k = 10
N/m. The Laplace transform of the mechanical position is

3s
X ( s) = G ( s) X in ( s) = X in ( s)
0.2s + 3s + 10
2

This equation holds for any input xin(t). For this problem, the input is a weighted impulse
function, xin (t ) = 0.1 (t ) m, and its Laplace transform is Xin(s) = L { 0.1 (t ) } = 0.1 . Hence, the
Laplace transform of the position is

0.3s 0.3s
X ( s) = =
0.2s + 3s + 10 0.2( s + 5)( s + 10)
2

The two poles of the Laplace transform are s = –5 and s = –10. The partial-fraction expansion is

1.5s a a
X ( s) = = 1 + 2
( s + 5)( s + 10) s + 5 s + 10

The two residues are

1.5s −7.5
a1 = ( s + 5) X ( s) s =−5 = = = −1.5
s + 10 s =−5 5

1.5s −15
a2 = ( s + 10) X ( s) s =−10 = = =3
s + 5 s =−10 −5

Therefore, the partial-fraction expansion becomes

−1.5 3
X ( s) = +
s + 5 s + 10

15
 Chapter 8

The inverse Laplace transform of X(s) consists of two exponential functions:

x(t ) = −1.5e−5t + 3e−10t m

16
 Chapter 8

8.8 SS The model of the RLC circuit is Lq + Rq + q / C = ein (t ) , where ein(t) = 1.5U(t) V.

a) Take the Laplace transform of both sides of the I/O equation (initial conditions are zero)

1.5
Ls 2Q( s) + RsQ( s) + Q( s) / C =
s

Substitute the numerical values for L, R, and C into the Laplace-transformed equation:

1.5 750
(0.002s 2 + 0.4s + 100)Q( s) = or Q( s ) =
s s ( s + 200s + 50,000)
2

Expand in partial fractions where the complex poles are s = −100  j 200

750 a a2 ( s + 100) a3 (200)

Q( s ) = = 1+ +
s( s + 200s + 50,000) s ( s + 100) + 200 ( s + 100) 2 + 2002
2 2 2

750
The first residue is a1 = sQ( s) s = 0 = = 0.015
50,000

The residues for the complex poles are

750
( s 2 + 200s + 50,000)Q( s) = = a2 (−100 + j 200 + 100) + a3 (200)
s = −100 + j 200 s s = −100 + j 200

After substituting for s we obtain

750
= −1.5 − j 3 = 200a3 + j 200a2
− 100 + j 200

Equating real and imaginary parts we obtain the residues a3 = –1.5/200 and a2 = –3/200.

Using the inverse Laplace transform we obtain the solution for charge q(t)

q(t ) = 0.015 − 0.015e−100t cos 200t − 0.0075e−100t sin 200t C

b) Current is the time derivative of charge: I (t ) = q (t ) ; take the time derivative of part (a):

q (t ) = 1.5e−100t cos 200t + 0.015(200)e−100t sin 200t + 0.75e−100t sin 200t − 0.0075(200)e−100t cos 200t

Simplifying we get I (t ) = 3.75e−100t sin 200t A (Note I(0) = 0 as required)

17
 Chapter 8

8.9 Rework parts of Problem 8.1 using MATLAB’s residue command for partial fractions.

−8
a) Y ( s ) = The MATLAB commands are
s ( s + 2)

>> numY = [-8]; % Y(s) numerator coefficients in descending powers of s

>> denY = [1 2 0]; % Y(s) denominator coefficients; descending powers of s
>> [a,p,k] = residue(numY,denY)

Result: a = [4 -4] (residues), p = [-2 0] (poles), and k = []. Hence the partial-
fraction expansion is

4 −4
Y ( s) = + . The inverse Laplace transform is y(t ) = 4(e−2t − 1)
s+2 s

s+6
b) Y ( s ) = The MATLAB commands are
( s + 2)( s + 1)

>> numY = [1 6]; % Y(s) numerator coefficients in descending powers of s

>> denY = [1 3 2]; % Y(s) denominator coefficients; descending powers of s
>> [a,p,k] = residue(numY,denY)

Result: a = [-4 5] (residues), p = [-2 -1] (poles), and k = []. Hence the partial-
fraction expansion is

−4 5
Y ( s) = + . The inverse Laplace transform is y(t ) = −4e−2t + 5e−t
s + 2 s +1

10s + 4
c) Y ( s ) = The MATLAB commands are
s( s + 8)

>> numY = [10 4]; % Y(s) numerator coefficients in descending powers of s

>> denY = [1 8 0]; % Y(s) denominator coefficients; descending powers of s
>> [a,p,k] = residue(numY,denY)

Result: a = [9.5 0.5] (residues), p = [-8 0] (poles), and k = []. Hence the partial-
fraction expansion is

9.5 0.5
Y ( s) = + . The inverse Laplace transform is y(t ) = 9.5e−8t + 0.5
s +8 s

18
 Chapter 8

s + 10
f) Y ( s ) = The MATLAB commands are
s ( s + 4)
2

>> numY = [1 10]; % Y(s) numerator coefficients in descending powers of s

>> denY = [1 4 0 0]; % Y(s) denominator coefficients; descending powers of s
>> [a,p,k] = residue(numY,denY)

Result: a = [0.375 -0.375 2.5] (residues), p = [-4 0 0] (poles), and k = [].

Hence the partial-fraction expansion is

0.375 − 0.375 2.5 −4t

Y ( s) = + + 2 . The inverse Laplace transform is y(t ) = 0.375(e − 1) + 2.5t
s+4 s s

2s + 8
i) Y ( s ) = The MATLAB commands are
( s + 1)( s 2 + 4s + 4)

>> numY = [2 8]; % Y(s) numerator coefficients in descending powers of s

>> denY = [1 5 8 4]; % Y(s) denominator coefficients; descending powers of s
>> [a,p,k] = residue(numY,denY)

Result: a = [-6 -4 6] (residues), p = [-2 -2 -1] (poles), and k = []. Hence the
partial-fraction expansion is

−6 −4 6
Y ( s) = + + . The inverse Laplace transform is y(t ) = e−2t (−6 − 4t ) + 6e−t
s + 2 ( s + 2) 2
s +1

2s + 8
j) Y ( s ) = The MATLAB commands are
2s 2
>> numY = [2 8]; % Y(s) numerator coefficients in descending powers of s
>> denY = [2 0 0]; % Y(s) denominator coefficients; descending powers of s
>> [a,p,k] = residue(numY,denY)

Result: a = [1 4] (residues), p = [0 0] (poles), and k = []. Hence the partial-fraction

expansion is

1 4
Y ( s) = + . The inverse Laplace transform is y(t ) = 1 + 4t
s s2

19
 Chapter 8

8.10 Rework Problem 8.1 using MATLAB’s ilaplace command:

−8
a) Y ( s ) = The MATLAB commands are
s ( s + 2)
>> syms s % defines Laplace variable s
>> Y = -8/(s^2 + 2*s) % defines Laplace transform Y(s)
>> y = ilaplace(Y) % find inverse Laplace transform
>> pretty(y) % displays y in math typeset

Result: -8 exp(-t) sinh(t)

et − e − t et − e − t
By definition sinh t =
2
, so − 8e− t sinh t = −8e− t
2
(
= −4 1 − e− 2t )
which matches the solution in Problem 8.1a.

s+6
b) Y ( s ) = The MATLAB commands are
( s + 2)( s + 1)
>> syms s % defines Laplace variable s
>> Y = (s+6)/((s+2)*(s+1)) % defines Laplace transform Y(s)
>> y = ilaplace(Y) % find inverse Laplace transform
>> pretty(y) % displays y in math typeset

Result: 5 exp(-t) - 4 exp(-2 t) which matches the solution in Problem 8.1b.

10s + 4
c) Y ( s ) = The MATLAB commands are
s( s + 8)
>> syms s % defines Laplace variable s
>> Y = (10*s+4)/(s*(s+8)) % defines Laplace transform Y(s)
>> y = ilaplace(Y) % find inverse Laplace transform
>> pretty(y) % displays y in math typeset

Result: exp(-4 t) (10 cosh(4 t) - 9 sinh(4 t))

e4t − e−4t e4t + e−4t

Substituting sinh 4t = and cosh 4t = we get the solution in Problem 8.1c.
2 2
2s + 18
d) Y ( s ) = 2 The MATLAB commands are
s + 8s + 20

>> syms s % defines Laplace variable s

>> Y = (2*s + 18)/(s^2 + 8*s + 20) % defines Laplace transform Y(s)
>> y = ilaplace(Y) % find inverse Laplace transform
>> pretty(y) % displays y in math typeset

Result: 2 exp(-4 t) cos(2 t) + 5 exp(-4 t) sin(2 t)

which matches the solution in Problem 8.1d.

20
 Chapter 8

6s 2 + 4s + 22
e) Y ( s ) = The MATLAB commands are
s( s 2 + 2s + 5)

>> syms s % defines Laplace variable s

>> Y = (6*s^2+4*s+22)/(s*(s^2+2*s+5)) % defines Laplace transform Y(s)
>> y = ilaplace(Y) % find inverse Laplace transform
>> pretty(y) % displays y in math typeset

Result: 8/5 exp(-t) cos(2 t) - 16/5 exp(-t) sin(2 t) + 22/5

which matches the solution in Problem 8.1e

s + 10
f) Y ( s ) = The MATLAB commands are
s ( s + 4)
2

>> syms s % defines Laplace variable s

>> Y = (s + 10)/(s^2*(s + 4)) % defines Laplace transform Y(s)
>> y = ilaplace(Y) % find inverse Laplace transform
>> pretty(y) % displays y in math typeset

Result: 5/2 t - 3/4 exp(-2 t) sinh(2 t)

e2t − e−2t
Substituting sinh 2t = we get the solution in Problem 8.1f.
2

3s + 12
g) Y ( s ) = The MATLAB commands are
s ( s 2 + 4)
>> syms s % defines Laplace variable s
>> Y = (3*s + 12)/(s*(s^2 + 4)) % defines Laplace transform Y(s)
>> y = ilaplace(Y) % find inverse Laplace transform
>> pretty(y) % displays y in math typeset

Result: -3 cos(2 t) + 3/2 sin(2 t) + 3 which matches the solution in Problem 8.1g.

6s + 40
h) Y ( s ) = The MATLAB commands are
( s + 25)( s + 8)
2

>> syms s % defines Laplace variable s

>> Y = (6*s + 40)/((s^2+25)*(s + 8)) % defines Laplace transform Y(s)
>> y = ilaplace(Y) % find inverse Laplace transform
>> pretty(y) % displays y in math typeset

Result: 94
- 8/89 exp(-8 t) + 8/89 cos(5 t) + -- sin(5 t)
89
which matches the solution for Problem 8.1h.

21
 Chapter 8

2s + 8
i) Y ( s ) = The MATLAB commands are
( s + 1)( s 2 + 4s + 4)

>> syms s % defines Laplace variable s

>> Y = (2*s+8)/((s+1)*(s^2+4*s+4)) % defines Laplace transform Y(s)
>> y = ilaplace(Y) % find inverse Laplace transform
>> pretty(y) % displays y in math typeset

Result: 2 (-2 t - 3) exp(-2 t) + 6 exp(-t)

which matches the solution for Problem 8.1i.

2s + 8
j) Y ( s ) = The MATLAB commands are
2s 2

>> syms s % defines Laplace variable s

>> Y = (2*s + 8)/(2*s^2) % defines Laplace transform Y(s)
>> y = ilaplace(Y) % find inverse Laplace transform
>> pretty(y) % displays y in math typeset

Result: 1 + 4 t which matches the solution for Problem 8.1j.

22
 Chapter 8

8.11 SS We will use both MATLAB’s residue and ilaplace commands for re-working
Problem 8.7.

The transfer function for the mechanical system in Problem 8.7 is

X ( s) bs 3s
G(s) = = =
X in ( s ) ms + bs + k 0.2s + 3s + 10
2 2

The input is a weighted impulse function, xin (t ) = 0.1 (t ) m, and its Laplace transform is Xin(s) =
L { 0.1 (t ) } = 0.1 . Hence, the Laplace transform of the position is

0.3s
X ( s) = G( s) X in ( s) =
0.2s + 3s + 10
2

Method #1: residue command

The MATLAB commands are

>> numX = [0.3 0]; % X(s) numerator coefficients in descending powers of s

>> denX = [0.2 3 10]; % X(s) denominator coefficients in descending powers of s
>> [a,p,k] = residue(numX,denX)

Result: a = [3 -1.5] (residues), p = [-10 -5] (poles), and k = []. Hence the
partial-fraction expansion is

3 −1.5
X ( s) = + . The inverse Laplace transform is x(t ) = 3e−10t −1.5e−5t
s + 10 s + 5

Method #2: ilaplace command

The MATLAB commands are

>> syms s % defines Laplace variable s

>> X = 0.3*s/(0.2*s^2 + 3*s + 10) % defines Laplace transform X(s)
>> x = ilaplace(X) % find inverse Laplace transform

Result:

x = 3*exp(-10*t) - (3*exp(-5*t))/2

The solution for x(t) matches the solution obtained using the residue M-file.

23
 Chapter 8

8.12 The mathematical model of the RC circuit is 0.05eC + eC = ein (t )

The Laplace transform of the I/O equation (including the initial capacitor voltage eC(0) = 0.75 V
and the 2-V step input voltage) is

2 2 0.0375s + 2
0.05 ( sEC ( s) − 0.75 ) + EC ( s) = or ( 0.05s + 1) EC ( s) = + 0.0375 =
s s s

Solving for the Laplace transform of capacitor voltage we obtain

0.0375s + 2
EC ( s) =
s(0.05s + 1)

The following MATLAB commands (using ilaplace) yields the solution eC(t)

>> syms s % defines Laplace variable s

>> Ec = (0.0375*s + 2)/(s*(0.05*s + 1)) % defines Laplace transform EC(s)
>> e_C = ilaplace(Ec) % find inverse Laplace transform
>> pretty(e_C) % displays e_C in math typeset

The solution is 2 - (5*exp(-20*t))/4 V

24
 Chapter 8

0.15s + 0.4
8.13 The given Laplace of the angular velocity is ( s ) =
s(0.01s + 0.002)

which accounts for initial angular velocity and the input torque.

The following MATLAB commands (using ilaplace) yields the solution (t)

>> syms s % defines Laplace variable s

>> Om = (0.15*s+0.4)/(s*(0.01*s+0.002)) % defines Laplace transform (s)
>> w = ilaplace(Om) % find inverse Laplace transform
>> pretty(w) % displays w in math typeset

The solution is 200 - 185*exp(-t/5) rad/s

25
 Chapter 8

8.14 The Laplace transform of the capacitor charge q (after applying the input – see Problem
8.8) is
750
Q( s ) =
s ( s + 200s + 50,000)
2

The following MATLAB commands (using ilaplace) yields the solution q(t)

>> syms s % defines Laplace variable s

>> Q = 750/(s*(s^2+200*s+50e3)) % defines Laplace transform Q(s)
>> q = ilaplace(Q) % find inverse Laplace transform
>> pretty(q) % displays q in math typeset

The solution is

3/200 - (3*exp(-100*t)*(cos(200*t) + sin(200*t)/2))/200 C

which matches the solution in Problem 8.8.

26
 Chapter 8

8.15 The given transfer function is

Y ( s) 0.25
G( s) = = 2
U ( s ) s + 2s + 10

a) The Laplace transform of the output is Y (s) = G(s)U (s) . The input is a step function,
u(t ) = 4U (t ) , and hence U (s) = 4 / s . Therefore the Laplace transform of the output is

(0.25)(4)
Y ( s) = → the three poles are s = 0 and s = −1  j3
s( s 2 + 2s + 10)

Expand and complete the square

a1 a ( s + 1) a3 (3)
Y ( s) = + 2 2 2+
s ( s + 1) + 3 ( s + 1) 2 + 32

1
The first residue is a1 = sY ( s ) s = 0 = = 0.1
10

The residues for the complex poles are

(0.25)(4)
( s 2 + 2s + 10)Y ( s ) = = a2 (−1 + j3 + 1) + a3 (3)
s = −1+ j 3 s s = −1+ j 3

After substituting for s we obtain

− 0.1 − j 0.3 = 3a3 + j3a2

Equating real and imaginary parts we obtain the residues a3 = –0.0333 and a2 = –0.1.

Using the inverse Laplace transform Table 8-1 we obtain

y(t ) = 0.1 − 0.1e−t cos 3t − 0.0333e−t sin 3t

b) The MATLAB commands using lsim (below) will numerically determine the response:

>> sysG = tf(0.25,[1 2 10]); % Define system sysG

>> t = 0:0.001:5; % Define time vector
>> ya = 0.1*(1-exp(-t).*cos(3*t))-0.0333*exp(-t).*sin(3*t); % Analytical response
>> u = 4*ones(size(t)); % Define input step
>> [y,t] = lsim(sysG,u,t); % Numerical response
>> plot(t,ya,t,y) % Plot both responses

27
 Chapter 8

The plot below shows both the analytical and numerical responses (they are the same)

0.14

0.12

0.1
Output, y

0.08

0.06

0.04

0.02

0
0 1 2 3 4 5
Time, s

28
 Chapter 8

8.16 Because the system has initial conditions we cannot use the transfer function. Therefore,
we must derive the I/O equation from the transfer function given in Problem 8.15:

Y ( s) 0.25
G( s) = = 2 → I/O equation is y + 2 y + 10 y = 0.25u(t )
U ( s ) s + 2s + 10

a) Take the Laplace transform of the I/O equation and apply the initial conditions and input:

(s Y (s) − sy(0) − y (0)) + 2(sY (s) − y(0)) + 10Y (s) = (0.25s )(4)
2

1 − 0.04s 2 − 0.07s + 1
or ( s + 2s + 10)Y ( s) = −0.04s + 0.01 − 0.08 +
2
or Y ( s) =
s s ( s 2 + 2s + 10)

a1 a ( s + 1) a3 (3)
Complete the square: Y ( s ) = + 2 2 2+
s ( s + 1) + 3 ( s + 1) 2 + 32

1 1
The first residue is a1 = sY ( s) s = 0 = = = 0.1
s + 2s + 10 s = 0 10
2

The residues for the complex poles ( s = −1  j3 ) are

− 0.04s 2 − 0.07s + 1
( s 2 + 2s + 10)Y ( s) = = a2 (−1 + j3 + 1) + a3 (3)
s = −1+ j 3 s s = −1+ j 3

After substituting for s we obtain

− 0.13 − j 0.42 = 3a3 + j3a2

Equating real and imaginary parts we obtain the residues a3 = –0.0433 and a2 = –0.14.

The inverse Laplace transform is: y(t ) = 0.1 − 0.14e−t cos3t − 0.0433e−t sin 3t

29
 Chapter 8

b) The Simulink model will numerically determine the response (the integrators have the
appropriate initial conditions)

The plot below shows both the analytical and numerical responses (they are the same). Note that
the output y(t) starts at y(0) = –0.04 with a positive slope.

0.16
0.14
0.12
0.1
0.08
Output, y

0.06
0.04
0.02
0
-0.02
-0.04

-0.06
0 1 2 3 4 5
Time, s

30
 Chapter 8

8.17 The mathematical model of the mechanical system is J + k = Ta (t )

Substituting the parameters J and k and sinusoidal input Ta(t) the I/O equation becomes

0.2 + 100 = 0.5sin 3t

a) Taking the Laplace transform (initial conditions are zero) yields

(0.5)(3) 1.5
(0.2s 2 + 100)( s) = or ( s ) =
s 2 + 32 (0.2s + 100)(s 2 + 9)
2

Expanding in partial fractions:

7.5 a1s a 500 as a (3)

( s) = = + 2 + 2 3 2 + 24 2
( s + 500)(s + 9) s 2 + 500
2 2 2
s 2 + 500
2
s +3 s +3

The residues for the first imaginary poles ( s =  j 500 ) are

7.5
( s 2 + 500)Y ( s ) = = −0.01527 = a1 j 500 + a2 500
s = + j 500 s + 9 s=+ j
2
500

Equating real and imaginary parts we obtain the residues a1 = 0 and a2 = –6.8312(10-4)

The residues for the second imaginary poles ( s =  j3 ) are

7.5
( s 2 + 9)Y ( s) = = 0.01527 = a3 j3 + a4 (3)
s=+ j3 s + 500 s = + j 3
2

Equating real and imaginary parts we obtain the residues a3 = 0 and a4 = 0.0050916.

Therefore, the partial-fraction expansion is

− 6.8312(10−4 ) 500 (0.0050916)(3)

( s) = +
s 2 + 500
2
s 2 + 32

The inverse Laplace transform is:  (t ) = −6.8312(10−4 ) sin 500t + 0.0050916sin 3t rad

31
 Chapter 8

b) Because the system has zero initial conditions we can use a transfer function for the
numerical solution. The MATLAB commands determine the response to a sinusoidal input.

>> sysG = tf(1,[0.2 0 100]); % Define system sysG

>> t = 0:0.001:10; % Define time vector
>> a1 = -6.8312e-4; % Analytic coefficient
>> a2 = 0.0050916; % Analytic coefficient
>> th = a1*sin(sqrt(500)*t) + a2*sin(3*t); % Analytical response: part a
>> u = 0.5*sin(3*t); % Define input Ta = 0.5sin3t
>> [y,t] = lsim(sysG,u,t); % Numerical response x(t)
>> plot(t,th,t,y) % Plot both responses

The plot (below) shows both the analytical and numerical responses (they are the same).

-3
x 10
8

4
Angular position,, rad

-2

-4

-6

-8
0 2 4 6 8 10
Time, s

32
 Chapter 8

8.18 a) The transfer function for the band-stop or notch filter (with numerical values substituted
for L, R, and C) is

EO ( s) 0.04s 2 + 1
G( s) = =
Ein ( s) 0.04s 2 + 0.2s + 1

The input is a sinusoidal voltage, ein (t ) = 2sin 5t V. The Laplace transform of the input (found
using Laplace tables or MATLAB’s laplace command) is

10
Ein ( s) =
s + 25
2

Therefore, the Laplace transform of the output voltage is EO(s) = G(s)Ein(s)

 0.04s 2 + 1   10 
EO ( s) =   2 
 0.04s + 0.2s + 1   s + 25 
2

The following MATLAB commands (using ilaplace) yields the solution eO(t)

>> syms s % defines Laplace variable s

>> G = (0.04*s^2+1)/(0.04*s^2+0.2*s+1) % defines TF G(s)
>> Ein = 10/(s^2 + 25) % defines Laplace transform Ein(s)
>> EO = G*Ein % defines Laplace transform EO(s)
>> eO = ilaplace(EO) % find inverse Laplace transform
>> pretty(eO) % displays eO in math typeset

The solution is (using the math typeset)

/ 5 t \ / 5 sqrt(3) t \
sqrt(3) exp| - --- | sin| ----------- | 4
\ 2 / \ 2 /
-----------------------------------------
3

b) The Simulink model is below. We can use a transfer function because there are zero initial
conditions. The Sine Wave input block has amplitude = 2 and frequency = 5 rad/s.

33
 Chapter 8

The analytical solution is computed using the following MATLAB commands:

>> t = linspace(0,4,5000);
>> e_O = (4.*3.^(1/2).*exp(-(5.*t)/2).*sin((5.*3.^(1/2).*t)./2))/3;

The output voltages from the Simulink model and the analtyical calcualtion are plotted below (the
plots are the same).

34
 Chapter 8

8.19 a) The washout filter’s transfer function is

RCs E (s)
G(s) = = O
RCs + 1 Ein ( s )

After substituting the circuit parameters R = 2  and C = 0.1 F, we obtain the Laplace transform
of the output voltage in terms of the transfer function and Ein(s)

0.2s
EO ( s) = G ( s) Ein ( s) = Ein ( s)
0.2s + 1

The input voltage is a step function, ein(t) = 3U(t) V. Hence, the Laplace transform of the input
voltage is Ein(s) = 3/s. After substituting for Ein(s), the Laplace transform of the output voltage is

0.6
EO ( s) =
0.2s + 1

We can apply the initial-value theorem to this Laplace transform:

0.6s 0.6
eO (0+) = lim sEO ( s) = lim = =3 V
s → s → 0.2 s + 1 0.2

Therefore the output voltage changes instantly from 0 V at t = 0 to 3 V at t = 0+ due to the 3-V
step input voltage.

b) We can apply the final-value theorem to the Laplace transform of the output voltage:

0.6s 0
eO () = lim sEO ( s) = lim = =0
s →0 s →0 0.2s + 1 1

c) The Laplace transform of the output voltage (computed after applying the 3-V step input
voltage) is
0.6 3
EO ( s) = =
0.2s + 1 s + 5

The inverse Laplace transform leads to a single exponential function:

eO (t ) = 3e−5t V

At time t = 0+, the output voltage is eO(0+) = 3e0+ = 3 V, which verifies part (a).

−
As time t →  , the output voltage is eO () = 3e = 0, which verifies part (b).

35
 Chapter 8

8.20 SS a) The op-amp’s transfer function is

− R2Cs EO ( s )
G ( s) = =
R1Cs + 1 Ein ( s )

After substituting the circuit parameters R1 = 2 , R2 = 20 , and C = 0.1 F, we obtain the

Laplace transform of the output voltage in terms of the transfer function and Ein(s)

−2s
EO ( s) = G ( s) Ein ( s) = Ein ( s)
0.2s + 1

The input voltage is a step function, ein(t) = 3U(t) V. Hence, the Laplace transform of the input
voltage is Ein(s) = 3/s. After substituting for Ein(s), the Laplace transform of the output voltage is

−6
EO ( s) =
0.2s + 1

We can apply the initial-value theorem to this Laplace transform:

−6s −6
eO (0+) = lim sEO ( s) = lim = = −30 V
s → s → 0.2 s + 1 0.2

Therefore the output voltage changes instantly from 0 V at t = 0 to -30 V at t = 0+ due to the 3-V
step input voltage.

b) We can apply the final-value theorem to the Laplace transform of the output voltage:

−6s 0
eO () = lim sEO ( s) = lim = =0
s →0 s →0 0.2s + 1 1

c) The Laplace transform of the output voltage (computed after applying the 3-V step input
voltage) is
−6 −30
EO ( s) = =
0.2s + 1 s + 5

The inverse Laplace transform leads to a single exponential function:

eO (t ) = −30e−5t V

At time t = 0+, the output voltage is eO(0+) = –30e0+ = –30 V, which verifies part (a).

−
As time t →  , the output voltage is eO () = −30e = 0, which verifies part (b).

36
 Chapter 8

8.21 a) The transfer function relating the input voltage ein(t) to the spool-valve position z is

Z ( s) E ( s) F ( s) Z ( s)  25  1.6  1 
= 0 =   
Ein ( s) Ein ( s) E0 ( s) F ( s)  0.003s + 1  0.002s + 1  0.035s + 7 s + 1800 
2

Z ( s) 40
Or, =
Ein ( s ) (0.003s + 1)(0.002s + 1)(0.035s 2 + 7 s + 1800)

If ein(t) = 0.2U(t) V (step input), then Ein(s) = 0.2/s and the Laplace transform of the position is

(40)(0.2)
Z ( s) =
s (0.003s + 1)(0.002s + 1)(0.035s 2 + 7 s + 1800)

The final value theorem yields

s(40)(0.2) 8
z () = lim sZ ( s) = lim = = 0.00444 m
s →0 s → 0 s (0.003s + 1)(0.002s + 1)(0.035s + 7 s + 1800)
2
1800

b) The Laplace transform of the amplifier output is the product of the power amplifier transfer
function and the Laplace transform of the step input, Ein(s) = 0.2/s

(25)(0.2)
E0 ( s ) = poles are s = 0 and s = –333.333
s (0.003s + 1)

Partial-fraction expansion yields

1666.667 5 −5
E0 ( s ) = = +
s ( s + 333.333) s s + 333.333

The inverse Laplace transform yields the amp response: e0 (t ) = 5(1 − e −333.33t ) V

37
 Chapter 8

c) The Laplace transform of the solenoid output is the product of the power amplifier and
solenoid transfer functions and the Laplace transform of the step input, Ein(s) = 0.2/s

(25)(1.6)(0.2)
F (s) = poles are s = 0 , –333.333, and –500
s (0.003s + 1)(0.002s + 1)

Partial-fraction expansion yields

1.3333(106 ) 8 − 24 16
F (s) = = + +
s( s + 333.333)(s + 500) s s + 333.333 s + 500

The inverse Laplace transform yields the solenoid response:

f (t ) = 8 − 24e−333.33t + 16e−500t N

d) The Laplace transform of the valve output is the product of the power amp, solenoid, and
valve transfer functions and the Laplace transform of the step input, Ein(s) = 0.2/s

(25)(1.6)(0.2)
Z ( s) =
s (0.003s + 1)(0.002s + 1)(0.035s 2 + 7 s + 1800)

poles are s = 0 , –333.333, –500, and s = −100  j 203.54

Partial-fraction expansion yields

1.3333(106 )
Z ( s) =
s( s + 333.333)(s + 500)(0.035s 2 + 7 s + 1800)

0.00444 − 0.00715 0.00227 4.384(10−4 )(s + 100) − 4.157(10−4 )(203.54)

= + + + +
s s + 333.333 s + 500 ( s + 100)2 + 203.542 ( s + 100)2 + 203.542

The inverse Laplace transform yields the spool-valve response (in m):

z (t ) = 0.00444 − 0.00715e−333.33t + 0.00227e−500t + 4.384(10−4 )e−100t cos 203.54t

− 4.157(10− 4 )e−100t sin 203.54t

Note that at steady-state all exponential terms go to zero which leaves z() = 0.00444 m

38