UNIVERSITY OF SOUTH AFRICA

Assignment THREE Solutions (2015)

Question 1

1.1 By definition

est f (t)dt.

L (f (x)) =
0

Therefore
1.1.1

est cos(t)dt =

L (cos(x)) =
0

1.1.2

est sin(t)dt =

L (sin(x)) =
0

1.1.3

est cosh(t)dt =

L (10

s2

Z
L (cosh(x)) =
1.1.3

s
,
s2 + 2

est 10t dt =

)=
0

,
+ 2

s
,
s2 2

1
.
s ln 10

1.2 Suppose
y = y(x),
with y(0) = y0 , y 0 (0) = y00 and the Laplace transform L(y) = Y . The Laplace transforms for
y 0 , y 00 , y (3) , y (4) and the constant C are
1.2.1
L (y 0 ) =

est y 0 (t)dt = sY y0 ,

1.2.2
Z

00

L (y ) =

est y 00 (t)dt = s2 Y sy0 y00 ,

1.2.3

 Z
L y (3) =

est y (3) dt = s3 Y s2 y0 sy00 y000 ,

1.2.3


 Z
L y (4) =

(3)

est y (4) dt = s4 Y s3 y0 s2 y00 sy000 y0 .

1.2.4

est Cdt =

L (C) =
0

C
.
s

Question 2
Suppose we are given a system described by the differential equation
y 00 y = t,

where y(0) = 1 and y 0 (0) = 1.

Here t is the independent variable and y the dependent variable.

2.1 Solve the problem using Laplace transforms. That is,

2.1.1 first apply the Laplace transform to the equation, with L(y) = Y ,
L (y 00 y t) = L (y 00 ) L (y) L (t) = 0.
That is,
L (y 00 y t) = p2 Y py0 y00 Y

1
= 0.
p2

Since y0 = y00 = 1, then That is,

p2 Y p 1 Y

1
= 0.
p2

That is,
(p2 1)Y

(p + 1)p2
1
2 = 0.
p2
p

That is,
(p + 1)p2
1
+
.
p2 (p2 1) p2 (p2 1)

Y =
That is,
Y =

3
1
1

.
2(p 1) p2
2(1 + p)

2.1.2
G(p) =

3
1
1
2
.
2(p 1) p
2(1 + p)

2.1.3 This implies

y=

3et
et

t.
2
2

[TURN OVER]

EMT4806
Assignment 3 Solutions

2.2 Solve the same problem using the reduction of order method. Details on this method can be
found in chapter three of your textbook(Duffy).
Let the equation
y 00 y = t,

where y(0) = 1 and y 0 (0) = 1,

be solvable through
y0 + y = v
and
v 0 v = t.
The solution of the latter is
v = x 1 + Cet .
Substituting it into the first equation, together with the initial conditions, give
y=

et
3et

t.
2
2

2.3 The approach through Laplace transforms is easy and less complicated.

[TURN OVER]

EMT4806
Assignment 3 Solutions

Question 3
Consider a system which is initially in a quiescent state and is described by the differential equation
x(4) + 2x00 x0 + 2x = 2u0 + 3u
Applying the Laplace transforms:



L x(4) + 2x00 x0 + 2x = L (2u0 + 3u)



L x(4) + 2L (x00 ) L (x0 ) + 2L (x) = 2L (u0 ) + 3L (u)

p4 X + 2p2 X pX + 2X = 2sU + 3U

p4 + 2p2 p + 2 X = (2p + 3) U

X
2p + 3
= 4
U
p + 2p2 p + 2

G=

2p + 3
p4 + 2p2 p + 2

Question 4
Consider the periodic function f (t) in the graph, where f1 be the function which agrees with f on
[0, 4] , and is zero elsewhere:

4.1 Determinining f1 in terms of Heaviside unit step functions:

t, t < 2,
f1 (t) =
.
t, t > 2
Hence,
f1 (t) = t[H(t + 2) H(t 2)].

[TURN OVER]

EMT4806
Assignment 3 Solutions

4.2 Finding the Laplace transform F1 (p) = L {f1 (t)}:

L[f1 (t)] = L[t[H(t + 2) H(t 2)]] = L[t[H(t + 2)]] L[t[H(t 2)]]

That is,
e2s e2s
s2

L[f1 (t)] = L[t[H(t + 2) H(t 2)]] =

4.3 Using the answer to 4.2 to compute F (p) = L {f (t)}:

F (p) =

e2s e2s
e6s e6s
e10s e10s
+
+
+
s2
s2
s2

Question 5

x 1
70
0
x1
1

400.
L
=L
+L

0
x 2
10 40
x2

sX1

sX2

70

10 40

X1
X2

1
s

400.

or

s 0
0

X1
X2

70

10 40

X1

X2

1
s

400,

or

s + 70

10 s + 40

X1
X2

1
s

400,

or

1
40 + s
0
1

s 400,
=
2800 + 110s + s2
X2
10 70 + s
0
X1

or
[TURN OVER]

=
2800 + 110s + s2
X2

X1

EMT4806
Assignment 3 Solutions

40+s
s
10
s

400,

or

X1
X2

400(40+s)
s(2800+110s+s2 )
4000
s(2800+110s+s2 )

or

X1
X2

40
7s
10
7s

40
7(70+s)
10
3(40+s)

40
21(70+s)

or

x1
x2

40
7
10
7

40 70t
7 e
10 40t
3 e

40 70t
21 e

Question 6
Suppose we are given a system initially in a quiescent state (so all initial conditions are 0) described
by the difference equation
6yk+2 yk+1 yk = 6uk+1 + 12uk .

6.1 Applying the Z transforms:

6Z[yk+2 ] Z[yk+1 ] Z[yk ] = 6Z[uk+1 ] + 12Z[uk ],

6z (Z[yk+1 ] y1 ) z (Z[(yk ] y0 ) Z[yk ] = 6z (Z[uk ] u0 ) + 12Z[uk ],

6z (z{Z[yk ] y0 } y1 ) z (Z[(yk ] y0 ) Z[yk ] = 6z (Z[uk ] u0 ) + 12Z[uk ],

6z (zZ}) zZ Z = 6zU + 12U,

6z 2 z 1 Z = (6z + 12) U.

[TURN OVER]

EMT4806
Assignment 3 Solutions

Transfer equation
G=

U
6z + 12
= 2
.
Z
6z z 1

The singularities follow from

6z 2 z 1 = 0,
giving
1
1
z1 = , z1 = .
3
2
Both fall within the unit circle, therefore the system is stable.

xk

i
h
= 12
1
y
k

zk

uk
vk

Question 7
Solving the difference equation
yn+2 + 4yn+1 + 3yn = un+1 2un

if the initial conditions are given as y0 = 0, y1 = 0, and the input is uk = 5 for all k:
The Z transform generates


z 2 + 4z + 3 Y = (z 2) Z[un ].

That is,
Y =

z2
z2
Z[un ] = 2
Z[un ] =
z 2 + 4z + 3
z + 4z + 3

5
3

2(3 + z) 2(1 + z)


Z[un ].

Since
Z[un ] =

5z
,
z1

then
Y =

15z
25z
5z
+

.
8(1 + z) 4(1 + z) 8(3 + z)

Reversing the Z transforms:

5 15
25
yn = + (1)n (3)n .
8
4
8
Question 8

[TURN OVER]

EMT4806
Assignment 3 Solutions

Solving the following statespace equation by taking a Ztransform and using an inverse matrix,
given that x1 (0) = x2 (0) = 0 and uk = 2:

x1 (k + 1)
0

=
1
x2 (k + 1)
8
yk

[1

1
43

x1 (k)

x2 (k)

x1 (k)

2]
x2 (k)

1
0

uk

After application of the Z- transforms, the first expression can be expressed in the form

z
1
X1
1

=
U
3
1
z
+
X
0
2
8
4

Since the inverse of the matrix

z
1
8

3
4

z+

is

1
z(z + 34 ) +

1
8

3
4
18

z+

1
z

we get

X1
X2

1
z(z + 43 ) +

1
8

3
4
18

z+

1
z

1
0

U.

Hence,

X1
X2

1
z(z +

3
4)

1
8

3
4
18

z+

2z .
z1

That is,

X1
X2

56z
15(1+z)
2z
15(1+z)

16z
3(1+2z)
4z
3(1+2z)

128z
5(1+4z)
16z
5(1+4z)

Taking the anti Z- transforms:

56
16
1 n
128
1 n
x1
+

6
2
20
4

= 15

n

.
2
1 n
x2
15
46 12 + 16

20
4

[TURN OVER]

EMT4806
Assignment 3 Solutions

Finally, from the second expression, the solution follows:

yk

[1

2]

56
15

16
6
2
46
15

12

n

128
20


n
12 + 16
20

14
14

That is,


yk

1
4+4
2

n

1
8
4

c

UNISA 2015

n
.

n

.
n