Response to step, ramp and

convolution
Step function, integral of delta function
Forcing function often stepwise continuous
When can you also integrate the response

Ramp function, integral of step function

Often serves same purpose as highway ramp
Building block

4.2 Step response

0 for t < a
u (t a) =
1 for t > a

Step function

Useful for notation. Instead of

1 nt
sin d t
e

g (t ) = d
0

for t > 0
for t < 0

write

1 nt
sin d tu (t )
g (t ) =
e
md

du (t a )
(t a) =
dt

Solution of step response

d2

d
m 2 + c + k s = u (t )
dt
dt

Equation to solve
t

Solve from s (t ) =

g ( )d

Obtain

n
1
n t
sin d t u (t )
s (t ) = 1 e
cos d t +
d
k

Alternate derivation
Differential equation

d2

d
m
+
c
+
k

s = u (t )
2
dt
dt

General solution of homogeneous equation

plus particular solution s=1/k
1 nt
s = +e
( C1 cos d t + C2 sin d t )
k
Find constant from s ( 0 ) = s ( 0 ) = 0

n
1
n t
sin d t u (t )
s (t ) = 1 e
cos d t +
d
k

4.3 Ramp response

Unit ramp function r(t-a)=(t-a)u(t-a)
Relation to step function
t

r (t a ) =

u ( a)d

dr (t a )
u (t a ) =
dt

Differential equation for ramp response

When does 2nd equation hold?
d2

d
m 2 + c + k r = u (t )
dt
dt

r (t ) =

s( )d

Problem 4.5
Find response of springmass-damper to F(t)
Solution:
F0
F (t ) = [ r (t ) r (t T ) ]
T

Then

F (t ) =

F0
[ r (t ) r (t T )]
T

F0
x(t ) = [r (t ) r (t T ) ]
T

From problem 4.4 (homework)

2

1 2
2

1
n t
r (t ) = t
cos d t +
sin d t u (t )
+e

k n
d
n

Reading assignment
Sections 4.4, 4.5,4.6

Source: www.library.veryhelpful.co.uk/ Page11.htm