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Control Systems

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Lecture 6 : Time Respone - 1

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Siddhartha Mukhopadhyay
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Professor, Dept. of Electrical Engineering

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Indian Institute of Technology Kharagpur

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December 2-12, 2014.

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 Teachers Notes
Review Superposition with IC. Mention advantages of

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superpositiion

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Total response = Zero input response + Zero state response

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Simulation is a basic requirement for control design

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With faster computers advanced simulation tools are

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increasingly available. But one has to understand how to

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This objective may also be supported through Lab
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assignments
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Initial conditions may affect transient response significantly

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 Time Response: Objectives
a) Compute response of systems described by ordinary
differential equations with constant to standard inputs with

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arbitrary initial conditions

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b) Compute zero input and zero state response

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 Time Response: Overview
Brief review of differential equations

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Superposition. Zero state and zero input response.

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Response to standard inputs with arbitrary initial conditions.

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Convolution.

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Laplace transform. Computation of response with initial

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condition using Laplace Transform
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 RLC Circuit Response
Given : y 0 0 and c 0 5

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Find response to x(t) 10e3t u(t) using zero-input and zero-

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state responses and Laplace transforms.

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T10KT Main Workshop, Dec. 2-12, 2014. IIT Kharagpur

 D 2
3D 2 y(t) Dx(t)

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We have

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2+ 3+ 2 = (+ 1)(+ 2) = 0.

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The characteristic roots of the system are 1= 1 and 2= 2

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To find the zero input response : D 2 3D 2 y (t) 0
0

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FromKVL,

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y 0 (t) 3 y0 (t) vC (t) 0

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Att=0,since y0 ( 0 ) 0 and vC ( 0 ) 5 ,
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y 0 ( 0 ) 5
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Solvingwithinitialconditions y0 ( 0 ) 0 and y 0 ( 0 ) 5 ,
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y 0 ( t ) 5 e t 5 e 2 t , t 0
T10KT Main Workshop, Dec. 2-12, 2014. IIT Kharagpur
 Tofindtheimpulseresponse h t :

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Forthesystemdescribedby
Q(D) y(t) P(D) x(t),

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i .e,

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an 1D n 1 a1D a0 y(t) bm D m bm 1D n 1 b1D b0 x(t), m n

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Theimpulseresponseisgivenby

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h(t) bn (t) P(D) yn (t) u(t), bn 0 if m n

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Where, yn (t) isalinearcombinationofcharacteristicmodeswiththeinitialconditions:
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yn( n 1 ) ( 0 ) 1, and yn ( 0 ) yn( 1 ) ( 0 ) yn( n 2 ) ( 0 ) 0

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Solvingwiththeaboveinitialconditions,
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yn (t) e t e 2 t
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h(t) D yn (t)u(t) e t 2 e 2 t u(t)

T10KT Main Workshop, Dec. 2-12, 2014. IIT Kharagpur

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a) Thezerostateresponseisgivenbyconvolution:

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y0 s (t) x(t)* h(t)

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10 e 3t u(t)* e t 2 e 2 t u(t)

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5 e t 20 e 2 t 15 e 3t u(t)

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e1t e2t

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1t 2t
Wherewehaveusedtheresult, e u(t)* e u(t) u(t), 1 2
1 2

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Finally y(t) y0 (t) y0s (t)
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 Usingtheclassicalmethod:

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Theinitialconditionsat0+arerequired.

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y0 ( 0 ) 0

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Sincetheinputispresentat0+,

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y 0 ( 0 ) 3 y 0 ( 0 ) vC ( 0 ) 10

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Hence

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y 0 ( 0 ) 10 5 5

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Thenaturalresponseisgivenby:
y n ( t ) c1 e t c2 e 2 t

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Theforcedresponseforinput 10 e 3t u(t) ,
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y f ( t ) Ke 3t
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Since y f ( t ) satisfies D 2 3 D 2 y f (t) Dx(t) ,
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9 Ke 3t 9 Ke 3t 2 Ke 3t 30 e 3t K 15
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y(t) yn (t) y f (t) c1 e t c2 e 2 t 15 e 3t

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Applyinginitialconditionsat0+, c1 10 , c2 25
Hence y(t) 10 e t 25 e 2 t 15 e 3t , t 0
T10KT Main Workshop, Dec. 2-12, 2014. IIT Kharagpur
 UsingLaplacetransform:

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TakingtheLaplacetransformof(1),
s 2Y (s) sy( 0 ) y(
0 ) 3sY (s) y( 0 ) 2Y (s) sX(s)

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(s 1 )(s 2 )Y(s) (s 1 ) y( 0 ) y(
0 ) sX (s) (2)

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sX (s) (s 1 ) y( 0 ) y(
0 )
Y (s)

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(s 1 )(s 2 )

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Setting X (s) , y( 0 ) 0 , y(
0 ) 5 ,
s3

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5
5s 15
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Y (s) s 3
(s 1 )(s 2 ) (s 1 )(s 2 )(s 3 )
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A B C

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( s 1 ) (s 2 ) (s 3 )
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Solving,wegetA=10,B=25,C=15.
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TheinverseLaplacetransformis y(t) 10 e t 25 e 2 t 15 e 3t .

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T10KT Main Workshop, Dec. 2-12, 2014. IIT Kharagpur

 30

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b) Here X (s)

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s 9
2

30 s

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5
sX (s) 5 2
9

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Y (s) s
(s 1 )(s 2 ) (s 1 )(s 2 )

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5s 2 30s 45

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From(2),

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(s 1 )(s 2 )( s 9 )
2

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A B Cs D
2

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( s 1 ) (s 2 ) ( s 9 )
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Solving,weget, y(t) 8 e t 9.6154 e 2 t 2.6312 cos( 3 t 2.2318 )
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Forthezeroinitialconditioncase,
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sX (s) 5 s2 9
Y (s)
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(s 1 )(s 2 ) (s 1 )(s 2 )
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TheLaplaceinversegives:
y(t) 3 e t 4.6154 e 2 t 2.6312 cos( 3 t 2.2318 )
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 p
c)
10

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Here, X (s)
s 1

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10s

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5
sX (s) (s 1 ) y( 0 ) y( 0 )
( s 1)

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Y (s)
(s 1 )(s 2 ) (s 1 )(s 2 )

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5s 5 A B C

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(s 1 )2 (s 2 ) (s 1 ) (s 1 )2 (s 2 )

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Solving,weget,
y(t) 15 e t 10t e t 15 e 2 t
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Forthezerostatecase,
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10s
Y (s)
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(s 1 ) (s 2 )
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TheLaplaceinversegives,
y(t) 20 e t 10t e t 20 e 2 t
T10KT Main Workshop, Dec. 2-12, 2014. IIT Kharagpur
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 p
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Inthiscase,thedifferentialequationis,

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D2 2 y(t) Dx(t)

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10 2s
5

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0 ) (s2 2 )
sX(s) y( 5 s2 10 2s 10

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Y(s)
(s 2 )
2
(s 2 )
2
(s 2 )
2 2

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TheLaplaceinversegives, 0K
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5
y(t) 5.t .sin( 2 t) .sin( 2 t)
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Forthezerostatecase,
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y(t) 5.t .sin( 2 t)

T10KT Main Workshop, Dec. 2-12, 2014. IIT Kharagpur

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Q&A

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