ch02 Corripio

Smith & Corripio, 3rd.
edition
Problem 2-1. Derivation of Laplace transforms from its definition
F( s) =
f ( t) e
st
dt
(a)
F( s) =
f ( t) = t
t e
st
By parts:
dt
u=t
dv = e
du = dt
1
+
s
t st
F( s) = e
s
0
st
v=
st
dt
1 st
e
s
1 st
e
2
s
0
dt = 0 0
F( s) =
(b)
f ( t) = e
at
at st
dt =
( s + a)t
dt =
1
s+a
( s + a)t
s+a
F( s) =
(c)
f ( t) = cos t
st
cos t e
dt =
F( s) =
where a is constant
F( s) =
i t
i t
st
s+a
dt
=
2
( s i )t
( s + i )t
dt
e
2 s i
dt +
2 s i
( s i )t
1
s + i
( s+ i )t
= s i + s + i =
s + i
2 ( s i ) ( s + i )
2 s
(2
2 s +
F( s) =
s
2
s +
s
2
s +
(d) f ( t) = e atcoss t
at
st
e cos t e
dt =
F( s) =
( s + a+ i )t
dt +
i t
+e
2 s + a + i
( s + a i ) t
( s+ a+ i )t
i t
dt
at e
st
dt
1
s + a i
( s+ a i )t
1
1
= s + a i + s + a + i
+
2 s + a + i
s + a i 2 ( s + a + i ) ( s + a i )
2 ( s + a)
2 ( s + a) +
2
s+a
2
( s + a) +
F( s) =
s+a
2
( s + a) +
All the results match results in Table 2-1.1

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Smith & Corripio, 3rd edition

Problem 2-2. Derive Laplace transforms from the properties and Table 2-1.1
(a)
f ( t) = u( t) + 2 t + 3 t
F( s) = L u ( t) + 2 t + 3 t
=
+ 2
+ 3
) = L(u(t)) + 2L(t) + 3L(t2)
2!
F( s) =
6
3
Used the linearity property.
(b)
f ( t) = e
(u(t) + 2t + 3t2)
2 t
F( s) = L u ( t) + 2 t + 3 t
1 + 2 + 6
s
2
3
s
s s+2
=
s+2
s+2
( s + 2)
( s + 2)
F( s) = L u ( t) + e
=
1
s
2t
1
s+2
2 e
s+2
1
s+1
1
s
s+2
( t) + L(te t) = 1
F( s) = L( u ( t) ) L e
1
s
2s
Let g ( t) = u ( t) 1 e
G( s) = e
2s 1
Used the real translation theorem and linearity.
( s + 2)
sin t
s+1
+
s+1
2t
s
2
( s + 2) +
F( s) =
F( s) = e
( s + 2)
) = L(u(t)) + L(e 2t) 2L(e t)
F( s) =
(e) f ( t) = u( t 2) 1 e 2( t2) sin( t 2)
(d) f ( t) = u( t) e t + t e t
F( s) =
Used the complex translation theorem.
(c) f ( t) = u( t) + e 2t 2e t
1
s
1
s+2
s+1
( s + 1)
1
s+1
1
( s + 1)
Then f ( t) = g ( t 2 )
F( s) = e
2s 1
2
( s + 2) + 1
is unlawful.

Problem 2-3. Initial and final value check of solutions to Problem 2-2
(a) f ( t) = u( t) + 2 t + 3t2
F( s) =
Initial value:
lim
t0
(u(t) + 2t + 3t2) = 1
lim
s
2
1
6
s + 2 + 3 = s lim
s
s
1 + 2 + 6 = 1
2
s
s
Final value:
lim
t
(u(t) + 2t + 3t2) =
(
(b) f ( t) = e 2t u( t) + 2t + 3t2
1 + 2 + 6 =
2
s
s0
s
Check!
lim
F( s) =
1
s+2
( s + 2)
( s + 2)
Initial value:
lim
(u(t) + 2t + 3t2)
2t
t0
= 1( 1 + 0 + 0) = 1
lim
2
1
6
=
+
s + 2 +
2
3
( s + 2)
( s + 2)
Must apply L'Hopital's rule:

2
6
1 +
=1
1 2( s + 2) +
2
3 ( s + 2)
lim
Final value:
lim
(u(t) + 2t + 3t2) = 0
2t
L'Hopital's rule:
0
2
6t
lim
+
+
=0
2t
2t
2t
t 2e
2e
2e
lim s
s0
(c) f ( t) = u( t) + e 2t 2e t
2
1
6
=0
+
s + 2 +
2
2
( s + 2)
( s + 3)
Check!
F( s) =
1
s
s+2
2
s+1
Initial value:
lim
t0
(u(t) + e 2t 2e t) = (1 + 1 2) + 0
lim
s s
1
s+2
s + 1
L'Hopital's rule:
lim
s
1 + 1 2 = 0
1
1
Final value:
lim
t
(u(t) + e 2t 2e t) = 1 + 0 + 0 = 1
lim s
s0
1
s+2
=1+0+0=1
s + 1
(d) f ( t) = u( t) e t + t e t
F( s) =
1
s+1
1
( s + 1)
Initial value:
lim
t0
(u(t) e t + te t) = 1 1 + 01 = 0
1
1
1
=
s s+1 +
2
( s + 1)
lim
s
L'Hopital's rule:
1
1 1 +
=11+0=0
1
2( s + 1)
lim
Final value:
lim
t
(u(t) e t + te t) = 1 0 + 0
s
1 s +
=10+0=1
2
s+1
s0
( s + 1)
lim
L'Hopital's rule:
1 0 + 1 = 1
t
t
1 e
(e) f ( t) = u( t 2) 1 e 2( t2) sin( t 2)
lim
Check!
F( s) = e
2s 1
2
( s + 1) + 1
The test of the delayed fnction is not useful. Better to test the term in brackets, g(t):
Initial value:
lim
t0
(1 e 2tsint) = 1
lim
s
1
1
=10=1
s
2
( s + 1) + 1
Final value:
lim
t
1 e 2tsin ( t) = 1
lim s
s0
1
1
=1+0=1
s
2
( s + 1) + 1
Check!
is unlawful.

Problem 2-4. Laplace transform of a pulse by real translation theorem
f ( t) = H u ( t) H u ( t T)
F( s) = H
1
s
H e
sT 1
= H
1e
s
sT
F( s) =
H
s
(1 e sT)
( )
t t0
Problem 2-5. Delayed versus non-delayed function
f ( t) = e
(a) Function is non-zero for all values of t > 0:

t0
f ( t) = e
t0
t0
F( s) = e
s+
t0
(from Table 2-1.1)
F( s) =
s + 1
s + 1
(b) Function is delayed and zero from t = 0 to t = t 0:
( )
t t0
f ( t) = u t t0 e
F( s) =
( )
t t0
u t t0 e
st
dt
Let
= t t0
s +
+
t
0
0
d = e
F( s) =
u( ) e
e
e
d
t
0
=e
t0 s
s+
s+
s+
t0 s
s + 1
The result to part (b) agrees with the real translation theorem.
t0 := 1
Sketch the functions:
:= 1
u ( t) :=
F( s) =
0 if t < 0
1 if t 0
t0
f ( t) := e
t0 s
s + 1
( )
t t0
t0 s
fd ( t) := u t t0 e
2
fd( t)
f ( t)
4
t
4
t
is unlawful.

Problem 2-6. Solution of differential equations by Laplace transforms
Input function:
X( t) = u ( t)
X( s) =
d y ( t)
(a)
dt
Laplace transform:
Solve for Y(s):
2 y( 0) = 5 x( 0) = 3
d Y( t)
+ 2 Y( t) = 5 X( t)
dt
Y( s) =
A1 =
s+2 s
lim
5
s+1
d y( t)
2
+ 18
dt
A1
s+2
5
d y ( t)
Y( 0 ) = y ( 0 ) y ( 0 ) = 0
s
A2 =
Invert:
X( t) = x ( t) x ( 0 )
A2
= 2.5
s2 s
Y( s) =
lim
s0 s+ 2
Y( t) = 2.5e
= 2.5
+ 2.5 u ( t)
(Table 2-1.1)
+ 4 y ( t) = 8 x ( t) 4
dt
4 y( 0) = 8 x( 0) 4
Initial steady state:

Subtract:
Y( t) = y ( t) y ( 0 )
sY( s) Y( 0 ) + 2 Y( s) = 5 X( s) = 5
Partial fractions:
(b)
(Table 2-1.1)
+ 2 y ( t) = 5 x ( t) + 3

Subtract:
d Y( t)
2
+ 18
dt
d Y( t)
+ 4 Y( t) = 8 X( t)
dt
Y( t) = y ( t) y ( 0 )
Y( 0 ) = 0
X( t) = x ( t) x ( 0 )
Laplace transform:
9s Y( s) + 18s Y( s) + 4 Y( s) = 8 X( s) = 8
Solve for Y(s):
Y( s) =
9s + 18s + 4
r1 :=
r2 :=
Expand in partial fractions:
A1 =
Y( s) =
lim
18 4 9 4
2 9
r1 = 0.255
18
9 ( s + 0.255 ) ( s + 1.745 )s
8
18 +
s 0.255 9 ( s + 1.745 )s
18 4 9 4
2 9
=
A1
s + 0.255
r2 = 1.745
A2
s + 1.745
8
9 ( 0.255 + 1.745 ) ( 0.255 )
A3
s
= 2.342
A2 =
A3 =
lim
2.342
s + 0.255
Y( t) = 2.342 e
2
(c)
d y( t)
2
d Y( t)
d Y( t)
dt
dt
9 ( 0.255 ) ( 1.745 )
+
+ 0.342e
= 0.342
= 2.0
2
s
1.745t
+ 2 u ( t)
+ 4 y ( t) = 8 x ( t) 4
dt
+ 9
s + 1.745
d y ( t)
+ 9
0.342
0.255t
dt
Subtract initial steady state:
s 0 9 ( s + 0.255 ) ( s + 1.745 )
Invert with Table 2-1.1:
+ 4 Y( t) = 8 X( t)
Y( 0 ) = 0
(9s2 + 9s + 4)Y(s) = 8 X(s) = 8 1s
Laplace transform:
9 +
Find roots:
r1 :=
Solve for Y(s), expand:
Y( s) =
9 4 9 4
r2 :=
2 9
A1
s + 0.5 0.441i
A3 =
s 0 9s2 + 9s + 4
1 + 1.134i
s + 0.5 0.441i
Y( t) = ( 1 + 1.134i)e
A2
s + 0.5 + 0.441i
d y( t)
2
+ 12
dt
A3
d Y( t)
2
dt
+ 12
1 1.134i
s + 0.5 + 0.441i
+ ( 1 1.134i)e
d y ( t)
dt
d Y( t)
dt
s
= 1 + 1.134i
=2
( 0.5+ 0.441i)t
(d)
r1 = 0.5 + 0.441i
r2 = 0.5 0.441i
9 ( 2 0.441i) ( 0.5 + 0.441i)
lim
Y( s) =
2 9
s 0.5+ 0.441i 9 ( s + 0.5 + 0.441i) s
A2 = 1 1.134i
9 4 9 4
9 ( s + 0.5 0.441i) ( s + 0.5 + 0.441 )s
lim
Invert using
Table 2-1.1:
8
9 ( 1.745 + 0.255 ) ( 1.745 )
lim
Y( s) =
A1 =
s 1.745 9 ( s + 0.255 )s
2
s
( 0.5 0.441i)t
+ 2 u( t)
+ 4 y ( t) = 8 x ( t) 4
+ 4 Y( t) = 8 X( t)
Y( 0 ) = 0
(9s2 + 12s + 4)Y(s) = 8 X(s) = 8 1s
Laplace transform:
Find roots:
r1 :=
12 +
12 4 9 4
r2 :=
2 9
12
12 4 9 4
r1 = 0.667
2 9
r2 = 0.667
Solve for Y(s) and expand:
Y( s) =
9 ( s + 0.667 ) s
A1 =
lim
s 0.667 9s
A2 =
A3 =
Invert using Table 2-1.1:
s + 0.667
A3
s
8
8 = lim
= 2
ds 9s
s 0.667 9s2
8
lim
s 0 9 ( s + 0.667 ) 2
d y( t)
3
+ 7
d y ( t)
2
+ 21
=2
d y( t)
dt
A2
s 0.667
dt
4 t 2 e 0.667t + 2 u ( t)
Y( t) =
( s + 0.667 )
lim
(e)
A1
d Y( t)
3
+ 7
dt
d Y( t)
2
+ 21
+ 9 y( t) = 3 x( t)
dt
d Y( t)
dt
dt
+ 9 Y( t) = 3 X( t)
Y( 0 ) = 0
(2s3 + 7s2 + 21s + 9)Y(s) = 3 X(s) = 3 1s
Laplace transform:
9
1.5 2.598i
21
polyroots
= 1.5 + 2.598i
7
0.5
Find roots:
Solve for Y(s) and expand:
Y( s) =
=
A1 =
3
2 ( s + 1.5 2.598i) ( s + 1.5 + 2.598i) ( s + 0.5)s
A1
s + 1.5 2.598i
3
lim
s 1.5+ 2.598i 2 ( s + 1.5 + 2.598i) ( s + 0.5)s
3
2 ( 2 2.598i) ( 1 + 2.598i) ( 1.5 + 2.598i)
A2
s + 1.5 + 2.598i
A3
s + 0.5
= 0.027 + 0.022i
= 0.027 + 0.022i
A2 = 0.027 0.022i
A4
s
A3 =
lim
s 0.5 2 ( s + 1.5 2.598i) ( s + 1.5 + 2.598i)s
3
2 ( 1 2.598i) ( 1 + 2.598i) ( 0.5)
= 0.387
Y( s) =
A4 =
0.027 + 0.022i
s + 1.5 2.598i
= 0.387
lim
3
3
s 0 2s + 7s + 21s + 9
0.027 0.022i
s + 1.5 + 2.598i
0.387
s + 0.5
1
3
1 1
3 s

Y( t) = ( 0.027 + 0.022i)e
( 1.5+ 2.598i)t
+ ( 0.027 0.022i)e
( 1.5 2.598i)t
0.387e
0.5t
1
3
u( t)
is unlawful.

Problem 2-7. Solve Problem 2-6(d) with different forcing functions
2
d Y( t)
2
+ 12
d Y( t)
+ 4 Y( t) = 8 X( t)
dt
dt
Y( 0 ) = 0
(a) Forcing function:
X( t) = e
From Table 2-1.1:
X( s) =
s+
(9s2 + 12s + 4) s + 1
A2 =
s 0.667 9 ( s + 0.333 )
lim
Invert using Table 2-1.1: Y( t) =
( s + 0.667 )
8
8
s + 0.667
s + 0.667
A3
s + 0.333
=8
= 8
s 0.667 9 ( s + 0.333 ) 2
A2
s 0.333 9 ( s + 0.667 ) 2
8
s + 0.333
8 t 8 e 0.667t + 8e 0.333t
( t 1)
(b) Forcing function:
lim
= lim
( s + 0.667 )
A3 =
s 0.667 ds 9 ( s + 0.333 )
Y( s) =
A1
9 ( s + 0.667 ) ( s + 0.333 )
lim
Y( s) =
A1 =
X( t) = u ( t 1 ) e
X( s) =
s+
(Real translation
theorem)
The partial fraction expansion of the undelayed signal is the same:

Y( s) =
1
8
8
8
e s
+
3
2
s + 0.667
s + 0.333
( s + 0.667 )
Apply the real translation theorem in reverse to this solution:

Y( t) = u ( t 1 )
( t 1 ) 8 e
0.667 ( t 1)
+ 8 e
0.333 ( t 1)
is unlawful.

Problem 2-8. Response characteristics of the equations of Problem 2-6
d y ( t)
(a)
dt
+ 2 y ( t) = 5 x ( t) + 3
2 y( 0) = 5 x( 0) + 3

d Y( t)
Subtract:
dt
+ 2 Y( t) = 5 X( t)
Y( t) = y ( t) y ( 0 ) X( t) = x ( t) x ( 0 )
s Y( s) + 2 Y( s) = 5 X( s)
Y( 0 ) = y ( 0 ) y ( 0 ) = 0
A
5
1
+ terms of X(s)
Y( s) =
X( s) =
s+2
s+2
Laplace transform:
Solve for Y(s):
Y( t) = A1 e
2t
+ terms of X(t)
The response is stable and monotonic.The dominant and only root is
Time for response to decay to within 0.67% of its initial value:

Final steady-state value for unit step input:
lim s
(Final value theorem)
s0
s+2 s
(b)
d y( t)
2
+ 18
d y ( t)
d Y( t)
+ 18
d Y( t)
dt
dt
Laplace transform and solve for Y(s): Y( s) =
r
5
= 2.5 min
= 2.5
+ 4 y ( t) = 8 x ( t) 4
dt
dt
r := 2 min
+ 4 Y( t) = 8 X( t)
Y( 0 ) = 0
X( s)
9s + 18s + 4
Find roots:
r1 :=
18 +
18 4 9 4
r2 :=
2 9 min
18
18 4 9 4
2 9 min
r1 = 0.255 min
r2 = 1.745 min
Y( t) = A1 e
0.255t
+ A2 e
1.745t
+ terms of X(s)
1
r1 = 0.255 min
5
= 19.6 min
r1
The response is stable and monotonic. The domnant root is:

Time for the response to decay to 0.67% of its initial value:
Final steady-state value for unit step input:

lim s
s0
8
2
9s + 18s + 4
1
s
(c)
d y( t)
+ 9
d y ( t)
d Y( t)
2
+ 9
d Y( t)
Y( s) =
+ 4 Y( t) = 8 X( t)
dt
dt
Laplace transform and solve for Y(s):
+ 4 y ( t) = 8 x ( t) 4
dt
dt
Y( 0 ) = 0
X( s)
9s + 9s + 4
Find the roots:
r1 :=
9 +
9 4 9 4
2 9 min
r2 :=
9 4 9 4
2 9 min
r1 = 0.5 + 0.441i min
r2 = 0.5 0.441i min

Y( t) = D e
0.5t
sin( 0.441t + ) + terms of X(t)
The response is stable and oscillatory. The dominant roots are r1 and r2.
Period of the oscillations:
T :=
T = 14.25 min
0.441min
Decay ratio:
0.5min
= 0.00081
Time for oscillations to die:
= 10 min
0.5min
Final steady state value for a unit step imput:
s0

9
d y( t)
2
+ 12
d Y( t)
2
d y ( t)
+ 12
d Y( t)
dt
dt
+ 4 y ( t) = 8 x ( t) 4
dt
dt
2
9s + 9s + 4
(d)
lim s
+ 4 Y( t) = 8 X( t)
Y( 0 ) = 0
Y( s) =
X( s)
9s + 12s + 4
Find roots:
r1 :=
12 +
12 4 9 4
2 9 min
r2 :=
12
12 4 9 4
2 9 min
r1 = 0.667 min
r2 = 0.667 min
) 0.667t
Y( t) = A1 t + A2 e
+ terms of X(t)
r1 = 0.667 min
5
Time required for the response to decay within 0.67% of its initial value:
= 7.5 min
r1
The response is stable and monotonic. The dominant root is
lim s
Final steady state value for a unit step input:
s0

2
d y( t)
9s + 12s + 4
d y ( t)
+ 7
dt
2
d Y( t)
3
+ 7
d Y( t)
+ 21
dt
+ 9 y( t) = 3 x( t)
dt
d Y( t)
dt
3
Y( s) =
d y( t)
dt
+ 21
(e)
dt
+ 9 Y( t) = 3 X( t)
X( s)
2s + 7s + 21s + 9
Find roots:
9
21
1
r := polyroots min
7
2

1.5 2.598i
1
r = 1.5 + 2.598i min
0.5
The response is stable and oscillatory. The dominant root is

The period of the oscillations is:
r = 0.5 min
2
T :=
T = 2.42 min
2.598min
Decay ratio:
1.5 min
= 0.027
Time for response to die out:
5
r
= 10 min
Final steady state value for a unit step input:

lim s
s0
3
3
2s + 7s + 21s + 9
1
s
1
3
is unlawful.

Problem 2-9. Second-Order Response: Bird Mobile
M := 50gm y 0 := 27cm
Problem data:
Solution:
Force balance:
M
d v ( t)
dt
= M g k y ( t) + f ( t)
d y ( t)
Velocity:
dt
-ky(t)
= v( t)
0 = M g k y 0
-Mg
Subtract and substitute:
f(t)
d Y( t)
2
y(t)
y=0
= k Y( t) + f ( t)
dt
Y( 0 ) = 0
Value of k:
k :=
Laplace transform:
Solve for Y(s):
M g
y0
k = 1.816
N
m
M s Y( s) + k Y( s) = F( s)
Y( s) =
1
2
F( s) =
M s + k
A1
s i
k
M
A2
k
s + i
M
+ terms of F(s)
:= 0
k t s +
M
Y( t) := D sin
The mobile will oscillate forever with a period of
D := 1
+ terms of f(t)
T := 2
M
k
T = 1.043 s
Y ( t)
1
0
4
t
To more accurately reflect the motion of the bird mobile, we must add the resistance of the air. If we
assume it to be a force proportional to the velocity:
2
d Y( t)
2
= k Y( t) b
dt
d Y( t)
dt
+ f ( t)
With this added term the roots will have a negative real part, causing the oscillations to decay, as
they do in practice:
Y( s) =
F( s)
M s + b s + k
Invert:
Y( t) = D e
2M
r1 =
b +
b 4M k
2M
b
2M
+ i
k
M
4M
2
k
b
+ terms of f(t)
t+
M
2
4M
b < 4M k
sin
is unlawful.

Problem 2-10. Responses of general first-order differential equation
d Y( t)
dt
+ Y( t) = K X( t)
(a) Unit impulse:
X( t) = ( t)
Y( s) =
Y( s) =
Y( 0 ) = 0
K
s + 1
X( s)
From Table 2-1.1:
X( s) = 1
K
s + 1
t
K
Y( t) := e
Y ( t)
(b) Pulse of Fig. 2-1.1b
0.5
From Example 2-1.1b:
4
t
X( s) = H
Substitute:
A1 =
Y( s) =
lim
s
K
s + 1
K H
1 s
1e
sT
s
1e
sT
= K H
A2 =
K H
lim
s 0 s + 1
Y( s) = K H
1
s
1
s+
A2
A1
sT
+
1e
s
s + 1
= K H
1 e sT
Invert using Table 2-1.1, and the real translation theorem:
KH := 1 := 1
T := 1
H := 1
t
( t T)
Y( t) := KH u ( t) e
u ( t T) 1 e
X( t) := H ( u ( t) u ( t T) )
1
Y( t)
X( t)
0.5
0
0
4
t
is unlawful.

Problem 2-11. Response of an integrating process
A
Laplace transform and solve for H(s):
H( s)
F( s)
Response to a unit step in flow:
A := 1
H( s) =
= f ( t)
dt
H( s) =
Transfer function of the tank:
Substitute:
d h( t)
1
A s
=
F( s)
1
A s
f ( t) = u( t)
1 1
A 2
s
F( s) =
1
s
(Table 2-1.1)
h ( t) :=
1
A
10
f(t)
h( t)
h(t)
h( 0) = 0
10
The tank is an integrating process because its ouput, the level, is the time integral of its input, the
inlet flow.
is unlawful.

Problem 2-12. Second-order differeential equations of Problem 2-6.
2
2 d Y( t )
Standard form of the second-order equation:
+ 2
d Y( t)
dt
dt
2
(b)
d y( t)
2
+ 18
d y ( t)
Subtract the initial steady state:
d Y( t)
2
+ 18
+ 4 y ( t) = 8 x ( t) 4
dt
dt
d Y( t)
dt
dt
+ Y( t) = K X( t)
+ 4 Y( t) = 8 X( t)
Y( 0 ) = 0
9 d Y( t)
18 d Y( t)
+ Y( t) = 2 X( t)
2
4
dt
4
dt
Divide by Y(t) coefficient:

Match coeffients to standard form:
:=
Equivalent time constants:

Find roots:
r1 :=
r2 :=
18 4 9 4
18 4 9 4
e2 :=
(b)
d y( t)
2
dt
+ 9
e1 = 3.927 min
r1
1
e2 = 0.573 min
r2
5 e1 = 19.64 min
Time for response to decay within 0.67% of its initial value:
d y ( t)
dt
+ 4 y ( t) = 8 x ( t) 4
9 d Y( t)
9 d Y( t)
+
+ Y( t) = 2 X( t)
2
4
dt
4
dt
Subtract initial steady state

and divide by the Y(t) coefficient:
Compare coefficients to standard form:
e1 :=
r2 = 1.745 min
2 9 min
= 1.5
Overdamped.
r1 = 0.255 min
2 9 min
18
4 2
K := 2
18 +
18min
min = 1.5 min :=
:=
9
4
min = 1.5 min :=
9min
4 2
Y( 0 ) = 0
= 0.75
K := 2
Find roots:
r1 :=
9 +
9 4 9 4
2 9 min
Frequency of oscillations:
:= 0.441
Underdamped.
r1 = 0.5 + 0.441i min

rad
min
Period of oscillations:
T :=
T = 14.25 min
Decay ratio:
Rise time:
0.5 min
T
4
= 0.00081
0.5min
Percent overshoot:
= 3.56 min
e
5
Settling time:
= 2.8 %
= 10 min
0.5min
2
(c)
d y( t)
2
+ 12
dt
Subtract initial steady state and
divide by the coefficient of Y(t):
d y ( t)
+ 4 y ( t) = 8 x ( t) 4
dt
9 d Y( t)
d Y( t)
+ 3
+ Y( t) = 2 X( t)
2
4
dt
dt
Y( 0 ) = 0
Compare coefficients to standard form:
:=
9
4
min
= 1.5 min
K := 2
Equivalent time constants:
Find roots:
r1 :=
r2 :=
12 +
12 4 9 4
2 9 min
12
r1 = 0.667 min
:=
3min
2
=1
Critically damped.
e1 :=
1
r1
e1 = 1.5 min
12 4 9 4
2 9 min
r2 = 0.667 min
Time for response to decay to within 0.67% of its initial value:
e2 :=
1
r2
e2 = 1.5 min
5 e1 = 7.5 min
is unlawful.

Problem 2-13. Partial fraction expansion coefficients for Eqs. 2-5.10 to 2-5.13
Step response, over-damped second-order differential equation: X( s) =
Y( s) =
A1 =
( e1 s + 1)( e2 s + 1)
lim
s
A3 =
lim
A1
s+
K x
K x
)(
s 0 e1 s + 1 e2 s + 1
Y( s) = K x
e1
s+
e1
A3
e2
K x e1
1 s + 1 s
e1 e2
e1
e2
A2
A2 =
e1 e2
K x e2
e2 e1
= K x
e2
1
s
e2 e1
e1 e2 s + 1
s+
e1
e2
t
t

(2-5.10)
e1
e2
e1
e2
Y( t) = K x u ( t)
e
e1 e2
e2 e1
Step response for the critically damped case:

Y( s) =
A1 =
A2 =
K x
lim
1
( s + 1)2
A1
s +
K x
A2
s+
A3 =
lim
K x
s 0 ( s + 1)2
K x
K x = lim
= K x
1 2 s2
s
1 ds 2s
Y( s) = K x

s +

lim
A3
1 + 1
1
s
s +
= K x
Y( t) = K x u ( t)
Ramp response for the over-damped case:
t + 1 e
(2-5.11)
X( s) =
s
Y( s) =
A1 =
A3 =
A4 =
( e1 s + 1) ( e2 s + 1) s2
1 s + 1 s2
s
e1 e2
e1
e2
lim
K r
)(
s 0 e1 s + 1 e2 s + 1
lim
s0
A1
s+
A2
s+
e1
K r
lim
1
e2
A3
2
A4
s
K r e1
A2 =
e1 e2
K r e2
e2 e1
= K r
= lim K r e1 ( e2 s + 1) e2 ( e1 s + 1)
ds ( e1 s + 1 ) ( e2 s + 1 )
s0
( e1 s + 1)2 ( e2 s + 1)2
d
K r
= K r e1 e2
2
2
e2
e1 + e2
e1
1
1
1
Y( s) = K r
+
+
e1 e2
1
1
2
s
e2 e1
s
s+
s+
e1
e2

t
t
2
2
e2
e1
e1
e2
Y( t) = K r
e
+
e
+ t ( e1 + e2)
e1 e2
e2 e1
Ramp response for critically damped case:

Y( s) =
( s + 1)2
A1
2
s + 1
A2
s+
A3
2
A4
s
(2-5.12)
A1 =
A2 =
2 2
= K r
A3 =
1 s
s
lim
K r
s 0 ( s + 1)2
= K r
K r
K r = lim
2
= 2 K r
2 3
ds 2 2
1
s
s s
d
lim
s
A4 =
K r
lim
lim
s0
K r = lim 2 K r = 2 K r
2
ds
( s + 1) 3
( s + 1) s 0
d
1
2
2
1
+
+
s
1 2 s + 1 s2
s +
Y( s) = K r
Y( t) = K r ( t + 2 ) e
+ t 2
(2-5.13)
is unlawful.

Problem 2-14. Derive step reponse of n lags in series
x
Y( s) =
( k s + 1)
A0
s
K x
lim
k=1 s +
1
k
= K x
s0
Ak
k= 1
A0 =
X( s) =
( k s + 1)
k= 1
Y( t) = K x u ( t) +
Ak e
k= 1
Ak =
K x
lim
s
j = 1 ( j k)
1
k
Substitute:
1
k
n 1
s + 1
j

j j= 1
K x
j = 1 ( j k)
K x
j = 1( j k)
K x k
n
( k j)
1 + 1
j
k j j = 1
n 1
( k j)
j = 1( j k)
n 1
n
k
k
Y( t) = K x u ( t)
e
n
k=1
( k j)
j = 1( j k)
(2-5.23)
is unlawful.

Problem 2-15. Transfer function of second-order interacting systems.
Y( s) =
k1
( 1 s + 1) ( 2 s + 1) k2
k1
X( s) =
X( s)
1 2 s + 1 + 2 s + 1 k2
Standard form of the second-order differential equaton, Eq. 2-5.4:

Y( s) =
X( s)
2 2
s + 2 s + 1
k1
Rerrange interacting equation:

Y( s) =
Comparing coefficients:
Gain:
K=
1 k2
1 2 2 1 + 2
s +
s+1
1 k2
1 k2
k1
Time constant:
1 k2
=
Damping ratio:
Find the roots of the denominator:
1 + 2
2 1 k2
X( s)
1 2
1 k2
1 + 2
2 1 2 1 k2
1 2 s + 1 + 2 s + 1 k2 = 0
r1 =
1 + 2 +
( 1 + 2)2 4 1 2(1 k2)

2 1 2
(a) The response is overdamped if the term in the radical is positive:
( 1 + 2)2 4 1 2 (1 k2) = 12 + 2 1 2 + 22 4 1 2 + 4 1 2 k2
2
= 1 2 1 2 + 2 + 4 1 2 k 2
= 1 2
)2 + 4 1 2 k2
This term is positive as long as 1 , 2 , and k2 are positive, so the response is overdamped.
(b) The response is stable if both roots are negative if 0 < k2 < 1.
r1 =
1 + 2 +
( 1 + 2)2 4 1 2(1 k2)

2 1 2
If 1 , 2 , and k 2 are positive, and if k 2 < 1, then the positive term in the numerator is always less in
magnitude than the negative term, and the root is negative. The other root has to be negative
because both terms in the numerator are negative. So, the response is stable.
(c) Effective time constants

As the response is overdamped, we can derive the formulas for the two effective time constants.
These are the negative reciprocals of the two real roots:
2 1 2
e1 =
1 + 2
( 1 2)2 + 4 1 2 k2
2 1 2
e1 =
1 + 2 +
( 1 2)2 + 4 1 2 k2
The first of these is the dominant time constant.

is unlawful.

Problem 2-16. Transfer function of a second-order feedback control loop
C( s) =
Kc
Kc
R( s) =
( 3s + 1 ) ( s + 1 ) + Kc
3s + 4s + 1 + Kc
This is a second-order process with a proportional controller.

Standard second-order transfer function, Eq. 2-5.4:
C( s) =
R( s)
+ 2 s + 1
Rearrange feedback loop transfer function and compare coefficients:
Kc
1+ K c
C( s) =
3
1 + Kc
Gain:
K=
Kc
1 + Kc
s +
1 + Kc
R( s)
s+1
Time constant: =
1 + Kc
Damping ratio:
2 1 + Kc
3 1 + Kc
Ranges of the controller gain for which the response is:
(i) Overdamped:
>1
(ii) Underdamped:
0< <1
(iii) Undamped:
=0
3 1 + Kc
1
3
>1
< Kc <
> 1 + Kc
3
1
Kc <
3
cannot be negative for positive K c

Cannot be undamped for finite K c.
The response canot be unstable for positive K c. The time constant and damping ratio are always
real and positive for positive gain.
is unlawful.

Problem 2-17. Linearization of common process model functions.
(a) Enthalpy as a function of temperature, Eq. 2-6.1: (use subscript b for base value)
2
H( T( t) ) = H0 + a1 T( t) + a2 T ( t) + a3 T ( t) + a4 T ( t)
H( T( t) ) = H Tb + a1 + 2a2 Tb + 3a3 Tb + 4a4 Tb
( )
Let
( T( t ) Tb )
Hd ( ( t) ) = H( T( t) ) H Tb
( )
( t ) = T( t ) Tb
Hd ( ( t) ) = a1 + 2a2 Tb + 3a3 Tb + 4a4 Tb
( t)
(b) Antoine equation for vapor pressure, Eq. 2-6.2:

A
p ( T( t ) ) = e
B
T( t) + C
A
( )
Let
p ( T( t ) ) = p Tb +
Tb + C
P ( t) ) =
( T( t ) Tb )
P ( ( t ) ) = p ( T( t ) ) p Tb
o
( t ) = T( t ) Tb
o(
B
Tb+ C
( )
( ) ( t)
( Tb + C ) 2
o
B p Tb
(c) Eqilibrium mole fraction by relative volatility, Eq. 2-6.3:

x ( t)
y( x( t) ) =
1 + ( 1 ) x ( t)
( )
y x ( t) = y xb +
Let
1 + ( 1 ) x b xb ( 1)
( x ( t) xb )
2
(
)
1 + 1 x b
( )
X( t) = x ( t) x b
Y( X( t ) ) =
Y( X( t) ) = y ( x ( t) ) y x b
1 + ( 1) xb
X( t)
(d) Flow as a function of pressure drop, Eq. 2-6.4:

f ( p ( t) ) = k p ( t)
( )
f ( p ( t) ) = f p b +
Let
k
2 p b
(p(t) pb)
( )
F( P( t) ) = f ( p ( t) ) f p b
P( t) = p ( t) p b
F( P( t) ) =
k
2 p b
P( t)
(e) Radiation heat transfer rate as a function of temperature, Eq. 2-6.5:

4
q ( T( t) ) = A T ( t)
( )
q ( T( t) ) = q Tb + 4 A Tb T( t) Tb
Let
( t ) = T( t ) Tb
Q( ( t) ) = q ( T( t) ) q Tb
( )
Q( ( t) ) = 4 A Tb ( t)
3
is unlawful.

Problem 2-18. Linearization of radiation heat transfer--range of accuracy.
q ( T) = 4 A T
Use subscript "b" for base value for linearization.

d q ( T)
From the solution to Problem 2-17(e), the slope is:
dT
= 4 A T
Temperature range for which the slope is within 5% of the slope at the base value
3
error = 4 A T 4 A Tb
= 0.05 4 A Tb
T 1 = 0.05
T
b
Simplify and rearrange:
For
Tb := 400K
Tmax :=
Tb := 600K
Tmax :=
1.05 Tb
Tmin :=
1.05 Tb
Tmin :=
Tmax =
Tmin =
K := 1.8R
1.05 Tb = 1.0164Tb
0.95 Tb = 0.983Tb
0.95 Tb
Tmax = 407 K
Tmin = 393 K
0.95 Tb
Tmax = 610 K
Tmin = 590 K
Temperature range for which the heat transfer rate is within 5% of the linear
approximation:
error = A T A Tb + 4 A Tb T Tb
= 0.05 A T
T 4 Tb T + 3Tb = 0.05T
As the error is always positive, the absolute value brackets can be dropped. Rearrange into a
polynomial and find its roots:
0.95
4 T +3=0
Tb
Tb

T
1.014 1.438i
4
1.014 + 1.438i
polyroots 0 =
0.921
0
1.108
0.95
Ignore the complex roots. The other two roots are the lower and upper limits of the range:
0.921
For
Tb := 400K
Tmin := 0.921 Tb
T
Tb
1.108
Tmax := 1.108Tb
Tmin = 368 K
Tmax = 443 K
Tb := 600K
Tmin := 0.921 Tb
Tmax := 1.108Tb
Tmin = 553 K
Tmax = 665 K
So the range for which the linear approximation is within 5% of the heat rate is much wider than the
range for which the value of the slope is within 5% of the actual slope. We must keep in mind that
the parameters of the dynamic model are a function of the slope, not the heat rate.
is unlawful.

Problem 2-19. Equilibrium vapor composition--range of accuracy
y( x) =
1 + ( 1)x
d y( x)
From the solution to Problem 2-17(c):
dx
For the slope:

error =
Upper limit:
2
1 + ( 1 ) x
2
1 + ( 1 ) x
2
1 + ( 1 ) x b
= 0.05
2
1 + ( 1 ) x b
1 + ( 1) xb
1 = 0.05
1 + ( 1)x
2
Lower limit:
1 + ( 1)xb
1 + ( 1 ) x min
1 + ( 1) xb
1 + ( 1 ) x max
x min , x b :=
1.05
0.95
1 + ( 1) xb
1.05
1 + ( 1) xb
0.95
x max , x b :=
1.05( 1 )
0.95( 1 )
(a)
x min( 1.1 , 0.1) = 0.143 (zero)
x max( 1.1 , 0.1) = 0.362
0 x 0.362
(b)
x min( 1.1 , 0.9) = 0.637
x max( 1.1 , 0.9) = 1.183 (one)
0.637 x 1
(c)
x min( 5 , 0.1) = 0.092
x max( 5 , 0.1) = 0.109
0.092 x 0.109
(d)
x min( 5 , 0.9) = 0.872
x max( 5 , 0.9) = 0.93
0.872 x 0.93
The range of accuracy is narrower the higher and the higher xb .

For the vapor composition:
y( x) =
1 + ( 1)x
x
error =
1+ ( 1)x
xb
1 + ( 1) xb
1 = 0.05
1 + ( 1) xb
( x xb)
2
1 + ( 1) xb
1 = 0.05
1 + ( 1 ) x x b 1 + ( 1 ) x b + x x b
The error is always negative, so we can change signs and drop the absolute value bars:
2
2
1 + ( 1) xb x = 0.95 1 + ( 1) x ( 1) xb + x
0.95 ( 1 ) x + 0.95 ( 1 ) x b + 0.95 1 2 ( 1 ) x b ( 1 ) x b
(
)
x + 0.95 1 xb
2
+ 0.05 ( 1) 2 x 0.05 2 ( 1) x + 0.95( 1) = 0
b
x
xb
xb
b
0.95( 1 )
Find the roots, one is the lower limit and the other one the upper limit:
(a)
:= 1.1
x min := 0.138x b
(b)
:= 1.1
0.95 ( 1 )
2
0.05
0.138
(
)
(
)
2 1 =
polyroots 0.05 1 x b
xb
7.231
0.95( 1 )
x b := 0.1
x max := 7.231x b
x b := 0.9
x min := 0.444x b
(c)
:= 5
x b := 0.1
x min := 0.605x b
(d)
:= 5
x b := 0.9
x min := 0.577x b
x min = 0.014
x max = 0.723
0.014 x 0.723
0.95 ( 1 )
2
0.05
0.444
(
)
(
)
2 1 =
xb
2.25
0.95( 1 )
x max := 2.25x b
x min = 0.4
x max = 2.025
0.40 x 1
0.95 ( 1 )
2
0.05
0.605
(
)
(
)
2 1 =
xb
1.653
0.95( 1 )
x max := 1.653x b
x min = 0.061
x max = 0.165
0.061 x 0.165
0.95 ( 1 )
2
0.05
= 0.577
(
)
(
)
0.05
1
x
1
polyroots
b
x
1.732
b
0.95( 1 )
x max := 1.732x b
x min = 0.519
x max = 1.559
0.519 x 1
is unlawful.

Problem 2-20. Linearization of chemical reaction rate.
r cA( t) , cB( t) = k cA( t) cB( t)
Problem parameters:
k := 0.5
cAb := 2
kmole hr
Linearize:
Let
kmole := 1000mole
) (
)
(
R( CA( t) , CB( t) ) = r( cA( t) , cB( t) ) r( cAb , cBb)
kmole
m
kmole
cBb := 1
r cA( t) , cB( t) = r cAb , cBb + 2k cAb cBb cA( t) cAb + k cAb cB( t) cBb
CAb( t) = cA( t) cAb
CB( t) = cB( t) cBb
R CA( t) , CB( t) = 2k cAb cBb CA( t) + k cAb CB( t)

At the given base conditions:
2 k cAb cBb = 2 hr
R CA( t) , CB( t) = 2hr

For
cA := 3
kmole
3
kmole
3
k cAb = 2 hr
CA( t) + 2hr
CB( t )
(off by 50%)
2
cB := 2
2 k cA cBb 2 k cAb cBb = 1 hr
k cA k cAb = 2.5 hr
For
2 k cAb cB 2 k cAb cBb = 2 hr
(off by 125%)
1
(off by 100%)
2
k cAb k cAb = 0 hr
(same as the base value)
These errors on the parameters of the linear approximation are significant, meaning that it is only
valid for very small deviations of the reactant concentrations from their base values.
is unlawful.

Problem 2-21. Linearization of Raoult's Law for equilibrium vapor
composition.
o
p ( T( t ) )
y ( T( t ) , p ( t ) , x ( t ) ) =
Raoult's Law:
p ( t)
x( t)
Linearize:
p ( T( t ) ) = e
B
T( t) + C
( )
xb
p Tb
o
y ( T( t ) , p ( t ) , x ( t ) ) = y Tb , p b , x b +
p ( T( t) ) T( t) Tb +
x( t) x b
pb
p b T
( Tb ) x b
pb
A B

T( t) + C
e
=
Let
( Tb + C ) 2
Tb+ C
Y( ( t ) , P( t) , X( t) ) = y ( T( t) , p ( t) , x ( t) ) y Tb , p b , x b
( p( t) p b)
( )
( Tb + C ) 2
o
B p Tb
( t ) = T( t ) Tb
P( t) = p ( t) p b
X( t) = x ( t) x b
( ) ( t) + p (Tb) X(t) p (Tb) xb P( t)

Y( ( t ) , P( t) , X( t) ) =
2
pb
2
p b ( Tb + C )
pb
o
x b B p Tb
degC := K
Numerical values for benzene at:
mmHg :=
p b := 760mmHg
( )
pob = p Tb
pob := e
x b B pob
p b Tb + C
atm
760
mole% := %
Tb := 95degC
A := 15.9008
Let
B := 2788.51degC
x b := 50mole%
C := 220.80degC
B
Tb+ C
= 0.022
pob = 1177 mmHg
mmHg
pob
degC
pb
= 1.549
pob x b
pb
= 0.00102
1
mmHg
Y( ( t ) , P( t) , X( t) ) =
pob x b
pb
= 77.441 %
0.022
degC
( t) + 1.549 X( t)
0.00102
mmHg
P( t)
y Tb , p b , x b = 77.44mole%
is unlawful.

Problem 2-22. Linearization of reactor of Examples 2-6.4 and 2-6.1.
From the results of Example 2-6.4:
Let
( )
k b = k Tb
d CA( t)

fb
V k Tb E cAb
K2 =
K3 =
2
fb + V k Tb
R Tb fb + V k Tb
( )
V := 2.6m
Tb := 573K
( )
( )
m
fb := 0.002
s
cAib := 12
k b := 100s
E := 22000
( ))
kmole
3
kcal
kmole
( )
0 = fb cA.b cAb k Tb V cAb
From the initial steady state:
cAb :=
:=
Calculate parameters:
+ CA( t) = K1 F( t) + K2 CAi( t) + K3 ( t)
dt
cAib cAb
K1 =
fb + V k Tb
( )
fb + V k Tb
Problem parameters:
fb cAib
cAb = 9.231 10
fb + k b V
cAib cAb
K1 :=
fb + V k b
V
fb + k b V
fb
K2 :=
fb + V k b
K3 :=
1.987
kcal
kmole K
Tb fb + V k b
= 0.01 s
K1 = 0.046
V k b E cAb
5 kmole
s kmole
6
K2 = 7.692 10
m
fb + V k b = 260.002
s
6
6 kmol
K3 = 3.113 10
m K
Linearized equation:
0.01 sec
d CA( t)
dt
+ CA( t) = 0.046
kmole s
3
F( t) + 7.692 10
CAi( t) 3.113
kmole
3
( t)
m K
is unlawful.

Problem 2-23. Pressure in a compressed air tank when punctured.
Assumptions:
Air obeys ideal gas law
Constant temperature
p b := ( 500 + 101.3 )kPa

Ao := 0.785cm
wi(t)
kPa := 1000Pa
Design conditions:
M := 29
T := 70degC
wo(t)
p(t)
po
kg
kmole
3
V := 1.5m
Rg := 8.314
kPa m
kmole K
p o := 101.3kPa
Solution:
V
Mass balance on the tank:
d ( t)
dt
= wi( t) wo ( t)
2
p( t) = ( t)
Bernoulli's equation:
v ( t)
2
+ po
v( t) =
( p( t) p o)
( t)
wo ( t) = ( t) Ao v ( t) = Ao 2 ( t) p ( t) p o
Flow through the orifice caused by the bullet:
( t) =
Ideal gas law:
M p ( t)
Rg ( T + 273K)
Substitute into mass balance:

V M
Rg ( T + 273 K)
d p( t)
dt
2 M
= wi( t) Ao
p( t) p( t) p o
Rg ( T + 273K)
Solve for the derivative:

d p ( t)
dt
Linearize:
Let
= g wi( t) , p ( t) =
d p ( t)
dt
P( t) = p ( t) p b
a1 =
g
wi
g
wi
Rg ( T + 273K)
V M
(wi( t) wb) +
g
p
( p( t) p b)
Wi( t) = wi( t) wb
a1 :=
2 M
wi( t) Ao R ( T + 273K) p( t) ( p( t) p o)
g
Rg ( T + 273K)
V M
a1 = 65.56
kPa
kg
a2 =
a2 :=
Substitute:
g
p
=
b
Ao
2 V
M
kPa
M pb pb po
1000Pa
Transfer function:
1
a2
P( s)
Wi( s)
K :=
(2pb po)
(2 pb po)1000Pa
100cm
kPa
1
= a1 Wi( t) + a2 P( t)
:=
p p p 0
2 b b
a2
Compare to standard form of first-order equation:

Then
2 Rg ( T + 273K) 1
2 Rg ( T + 273 K)
d P( t)
dt
Ao
d P( t)
dt
d P( t)
dt
+ P( t) =
a1
a2
a2 = 0.023 sec
Wi( t)
P( 0 ) = 0
+ P( t) = K Wi( t)
a1
a2
= 42.9 sec
3 kPa sec
K = 2.8 10
kg
K
s + 1
If the compressor shuts down it will take approximately 5(42.8) = 214 sec (3.5 min) for the
pressure transient to die out, according to the linear approximation. (See the results of the
simulation, Problem 13-3, to see how long it actually takes.)
K := 1.8R
is unlawful.

Problem 2-24. Temperature of a turkey in an oven.
Assumptions
Uniform turkey temperature
Negligible heat of cooking
Radiation heat transfer only
Ts(t)
T(t)
M
Energy balance on the turkey:

M cv
d T( t )
dt
= A Ts ( t) T ( t)
4
Use subscript "b" for linearization base values.

Linearize:
d T( t )
dt
d T( t )
dt
where
Let
a1 =
s( t) = Ts( t) Tsb
Substitute:
A 4
4
= g Ts( t) , T( t) =
Ts ( t ) T ( t )
M cv
= a1 Ts( t) Tsb + a2 T( t) Tb
g
Ts
4 A
M cv
Tsb
dt
= a1 s( t) + a2 ( t)
( 0) = 0
Standard form of the first-order differential equation:

1
a2
d ( t)
dt
4 A Tb
d ( t)
4 A Tb
Laplace transform:
dt
M cv
=
( s)
s( s)
d ( t)
+ ( t) =
M cv
Compare coefficients:
a2 =
4 A
M cv
Tb
( t ) = T( t ) Tb
d ( t)
Divide by -a2 and rearrange:
dt
a1
a2
(base is initial steady state)
+ ( t) = K s( t)
s( t)
3
Tsb
+ ( t) =
s( t)
Tb
Tsb
K=
Tb
K
s + 1
The input variable is the temperature of the oven wall. See problem 13-4 for the simulation.
is unlawful.

Problem 2-25. Slab heated by an electric heater by radiation.
Assumptions:
Uniform temperature of the slab
Heat transfer by radiation only
Ts
Energy balance on the slab:

M cv
d T( t )
dt
T(t)
= q ( t) A T ( t) Ts
C = M cv
= A
d T( t )
4
4
Substitute
C
= q ( t) T ( t) Ts
dt
Let
Problem parameters:
C := 180
BTU
R
Use subscript "b" to denote linearization base value.

:= 5 10
8 BTU
hr R
d T( t )
dt
dt
1
C
Substitute:
1
C
4 Tb
d ( t)
dt
4
4
T ( t ) Ts
Q( t) = q ( t) q b
a2 :=
a2
d ( t)
dt
4 Tb
4 Tb
a2 =
b
3 R
a1 = 5.556 10
= a1 Q( t) + a2 ( t)
a1 =
Divide by -a2 and rearrange:
:=
q( t)
Standard form of first-order differential equation:
Compare coefficients:
Tb := 700R
= a 1 q ( t ) q b + a 2 T( t ) Tb
( t ) = T( t ) Tb
a1 :=
Ts := 540R
= g ( q ( t ) , T( t ) ) =
d T( t )
Linearize:
Let
q(t)
K :=
dt
+ ( t) =
d ( t)
dt
a1
a2
4 Tb
b
1
(base is initial value)
Q( t)
1
4 Tb
+ ( t) = K Q( t)
+ ( t) =
a2 = 0.381 hr
BTU
( 0) = 0
d ( t)
Q( t)
= 2.62 hr
K = 0.01458
R hr
BTU
Transfer function:
( s)
Q( s)
K
s + 1
is unlawful.

ch02 Corripio

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Smith & Corripio, 3rd.

All the results match results in Table 2-1.1

Smith & Corripio, 3rd edition

) = L(u(t)) + 2L(t) + 3L(t2)

Used the linearity property.

Used the real translation theorem and linearity.

Used the linearity property.

) = L(u(t)) + L(e 2t) 2L(e t)

(e) f ( t) = u( t 2) 1 e 2( t2) sin( t 2)

Used the linearity property.

Used the complex translation theorem.

Smith & Corripio, 3rd edition

Must apply L'Hopital's rule:

Smith & Corripio, 3rd edition

Problem 2-5. Delayed versus non-delayed function

(a) Function is non-zero for all values of t > 0:

(from Table 2-1.1)

(b) Function is delayed and zero from t = 0 to t = t 0:

Sketch the functions:

Smith & Corripio, 3rd edition

Initial steady state:

Initial steady state:

Invert with Table 2-1.1:

(9s2 + 9s + 4)Y(s) = 8 X(s) = 8 1s

Solve for Y(s), expand:

9 ( 2 0.441i) ( 0.5 + 0.441i)

s 0.5+ 0.441i 9 ( s + 0.5 + 0.441i) s

9 ( s + 0.5 0.441i) ( s + 0.5 + 0.441 )s

(9s2 + 12s + 4)Y(s) = 8 X(s) = 8 1s

Invert using Table 2-1.1:

(2s3 + 7s2 + 21s + 9)Y(s) = 3 X(s) = 3 1s

Solve for Y(s) and expand:

s 1.5+ 2.598i 2 ( s + 1.5 + 2.598i) ( s + 0.5)s

s 0.5 2 ( s + 1.5 2.598i) ( s + 1.5 + 2.598i)s

Invert using Table 2-1.1:

Smith & Corripio, 3rd edition

(a) Forcing function:

From Table 2-1.1:

Invert using Table 2-1.1: Y( t) =

(b) Forcing function:

The partial fraction expansion of the undelayed signal is the same:

Apply the real translation theorem in reverse to this solution:

Smith & Corripio, 3rd edition

Initial steady state:

Invert using Table 2-1.1:

The response is stable and monotonic.The dominant and only root is

Time for response to decay to within 0.67% of its initial value:

(Final value theorem)

Laplace transform and solve for Y(s): Y( s) =

The response is stable and monotonic. The domnant root is:

Final steady-state value for unit step input:

Subtract initial steady state:

r1 = 0.5 + 0.441i min

r2 = 0.5 0.441i min

sin( 0.441t + ) + terms of X(t)

Time for oscillations to die:

(Final value theorem)

Subtract initial steady state:

Laplace transform and solve for Y(s):

The response is stable and monotonic. The dominant root is

Final steady state value for a unit step input:

(Final value theorem)

Subtract initial steady state: