E E 238 B1 - Winter 2012 Solution to HW #4

Solution to Homework Assignment 4

Solution to Problem 1: From the system equation, m = 1, n = 2, b
n
= b
2
= 0.
characteristic equation:
2
+ 6 + 9 = ( + 3)
2
= 0.
characteristic roots:
1
=
2
= 3.
characteristic modes: e
3t
, te
3t
.
Thus, y
n
(t) = (c
1
+ c
2
t)e
3t
. By using the initial condition y
n
(0) = 0 and y
n
(0) = 1, we have
_
y
n
(0) = c
1
= 0
y
n
(0) = 3c
1
+ c
2
= 1

_
c
1
= 0
c
2
= 1
and y
n
(t) = te
3t
. Note that
P(D)y
n
(t) = (2D + 9)(te
3t
) = 2(e
3t
3te
3t
) + 9te
3t
= 2e
3t
+ 3te
3t
.
Thus
h(t) = b
n
(t) + [P(D)y
n
(t)]u(t) = (2 + 3t)e
3t
u(t).
Solution to Problem 2: First we calculate the zero-input response.
Ch. equation:
2
+ 4 + 3 = 0; ch. roots:
1
= 3,
2
= 1; ch. modes: e
3t
, e
t
. Thus
y
0
(t) = c
1
e
3t
+ c
2
e
t
.
Use the provided initial conditions:
_
y
0
(0) = c
1
+ c
2
= 2
y
0
(0) = 3c
1
c
2
= 4

_
c
1
= 3
c
2
= 5
.
The zero-input response is: y
0
(t) = 3e
3t
+ 5e
t
for t 0.
Now calculate the unit impulse response. m = 1, n = 2 so b
n
= b
2
= 0. By using the above results,
y
n
(t) = d
1
e
3t
+ d
2
e
t
With the initial conditions y(0) = 0 and y(0) = 1, we can show (details are omitted) that d
1
=
1
2
and
d
2
=
1
2
. Thus y
n
(t) =
1
2
e
3t
+
1
2
e
t
The unit impulse response h(t) is:
h(t) = b
n
(t) + [P(D)y
n
(t)]u(t) = [(D + 1)y
n
(t)]u(t) = e
3t
u(t).
Now calculate the zero-state response.
y
1
(t) = f(t) h(t) = u(t) e
3t
u(t) =
__
t
0
e
3
d
_
u(t) =
1
3
_
1 e
3t
_
u(t)
The total response is the summation of the zero-input and the zero-state responses:
y
n
(t) = y
0
(t) + y
1
(t) = [3e
3t
+ 5e
t
]u(t) +
1
3
(1 e
3t
)u(t) =
_
1
3

10
3
e
3t
+ 5e
t
_
u(t).
1
E E 238 B1 - Winter 2012 Solution to HW #4
Solution to Problem 3: test
(a) Characteristic equation: ( + 1)(
2
+ 2 + 5)
2
= 0 and characteristic roots:

1
= 1,
2
=
3
= 1 + 2j,
4
=
5
= 1 2j.
All roots are in the LHP, so the system is asymptotically stable.
(b) Characteristic equation: ( + 1)(
2
+ 9) = 0 and characteristic roots:

1
= 1,
2
= 3j,
3
= 3j.
There are simple roots (3j and 3j) on the imaginary axis, and no roots in the RHP, so the system is
marginally stable.
(c) Characteristic equation: ( + 1)(
2
+ 9)
2
= 0 and characteristic roots:

1
= 1,
2
=
3
= 3j,
4
=
5
= 3j.
There are repeated roots (3j and 3j) on the imaginary axis, so the system is unstable.
(d) Characteristic equation: (
2
+ 1)(
2
+ 4)(
2
+ 9) = 0 and characteristic roots:

1
= j,
2
= j,
3
= 2j
4
= 2j
5
= 3j
6
= 3j.
There are simple roots (all the roots) on the imaginary axis, and no root in the RHP, so the system is
marginally stable.
Solution to Problem 4: E
f
=
_
1
0
t
2
dt = 1/3, and
c =
1
E
f
_
1
0
x(t)f(t)dt = 3
_
1
0
tdt =
3
2
.
Thus, x(t) 1.5f(t).
The error signal is:
e(t) = x(t)
3
2
f(t) =
_
1
3
2
t 0 t 1
0 otherwise
.
Thus, the error signal energy is: E
e
=
_
1
0
_
1
3
2
t
_
2
dt = 1/4.
2