Chapter 2 Solutions 2.21, The characteristic polynomial is 745446. ‘The characteristic equation is \?+5A+6 0. Also 47-452 +6 = (X+2)(A43). Therefore the characteristic roots are Ay and Xz = ~3. The characteristic modes are e~® and e~S*. Therefore volt) = cre + ene and Sol) = —2ey0"** — Bexe* Setting ¢ = 0, and substituting initial conditions yo(0) = 2, ip(0) = —1 in this equation yields ata=2 ass 26, — Bea a= ‘Therefore se walt) = 56° 222. The characteristic polynomial is A24-4A+4. The characteristic equation is P4AN44 = 0. Also 2?-+4A44 = (A+2)?, so that the characteristic roots are ~2 and ~2 (repeated twice). ‘The characteristic modes are e~2! and te~®*. Therefore elt) = cre + ente“ 2eye™™ — Degte™* 4 exe sod inl) Setting t= 0 and substituting Snitil conditions yields ate} 84 he 2 Therefore wold) 2.28, ‘The characteristic polynomial is AA +1) = A¥ +A. The characteristic equation is (A +1) = 0. The characteristic roots are O and ~1. The characteristic modes are 1 and e~f, Therefore wit) =e +026" and tn) = exe Setting t = 0, and substituting initial conditions yields ate a2 Jo ark Therefore224. 225. 2.26. 22-7, ‘The characteristic polynomial is 4? + 9. The characteristic equation is 4? + 9 = 0 or (4+ 58) — j8) = 0. The characteristic roots are 273. The characteristic modes are oo and e-BY "Therefore ol) = ecos(3t + 0) ond fil) = ~Sesin(3t +0) Setting t= 0, and substituting initial conditions yields 0=ccosd coos = 0 c=2 6 = —3csind cing = -2 O=-n/2 Therefore wifebaae se z ‘The characteristic polynomial is \? +4413. The characteristic equation is 7 +444 13 = 0 or (A +2~73)(A +2-+ J8) = 0. The characteristic roots are -2* 73. The characteristic modes are cye(-?+3¥ and ce-2-#9", Therefore oll) = ce ** cas(3t 4 8) and Go(t) = —2ce7** cos(3t + 8) ~ Bex Setting ¢ = 0, and substituting initial conditions yields ‘sin(3t +0) d= cco ecas8 = 5 e=10 15.98 = —2ccos0 — Sesind csind = -8.66 O=-x/3 ‘Therefore 0) = 10 eox(at = 3) The characteristic polynomial is A2(A +1) or X* + 28. The characteristic equation is (41) = 0. The characteristic roots are 0, O and —1 (Oi repeated twice). ‘Therefore oll) = er teat + ese" ol ex eset jio(t) Setting t= 0, and substituting initial conditions yields ate o ana p= ae -leey 8 Therefore ol!) =5-+2¢— ‘The characteristic polynomial is (A + 1)(A? +5A +6). The characteristic equation is (4245246) =0 or (A+ NAF 2)(A+3) = 0. The characteristic roots are —1, =2 and ~3. The characteristic modes are e~*, €-* and e~*. Therefore andDoll) = eye 4 Aezem™ + Dege™ Setting ¢ = 0, and substituting initial conditions yields ates tes ~1==01~2cq— 30a } > ext 4g +99 ‘Therefore lt) ~ 66-* = Te" 3 22-8, The zero-input response for a LTIC system is given as yo(t) = 2e-t 4-3. Since two ‘modes are visible, the system must have, at least, the characteristic roots 2; =: 0 and d= ol (a) No, it is not possible for the system’s characteristic equation to be A+1= 0 since the required mode at A = 0 is missing, (b) Yes, it is possible for the system's characteristic equation to be ¥3(3? +X) = 0 since this equation has the two required roots A, = 0 and Az = -1. (©) Yes, itis possible for the system’s characteristic equation to be A(AE1)? = 0. ‘This equation supports a general zero-input response of yo(t) = er texe~‘+este™!. By letting c = 3, c2 = 2, and cs = 0, the observed zere-input response is possible 23:1, The characteristic equation is #7 + 4\.4+ 3 = (A+ 1)(A+3) = 0. The characteristic modes are e~f and e~**, Therefore ‘Therefore ey H(t) = PD) unlO}u(t) = [(D + Shunt E)} u(t) = fin(t) + Symlé)}u(t) = (26 23-2, The characteristic equation is 1? + 5A+6-= (A+2)(X43) = 0. and u(t) alt) = cre + ege Galt) = —2eye?* — Boze Setting t= 0, and substituting y(0) = 0, (0) = 1, we obtain Osates eal 1= 2c, ~ Bey ‘Therefore ald and [P(D)yn(O)alt) = [Halt) + Tale) + yn (E)heCe) = (77 + oul) Hence I(t) = bnd(t) + [PD] un(t)]u(t) = (8) + (2° + eal) 5623:3, The characteristic equation is A+ = and a(t) = ce* In this ease the initial condition is yt"2(0) = ya(0) = 1. Setting ¢ = 0, and wsing va(0) = 1, we obtain c= 1, and unlt) = e* PUD) alt) = [the (#) + valt)}u(t) = 2e-*u(e) Hence At) = bn8(t) + [PD)yn Olu) = —5(H) + 2e°FwC0) 23-4, The characteristic equation is 32 4-6A-49=(A+3)# = 9. Therefore 241. anlt) = (eae a(t) = [-B(cr + eat) + eajem* Setting t = 0, and substituting ya(0) = 1, gn(0) = 1, we obtain and Hence A(t) = [P(D)ua()]uCt) = dn (t) + Oun(t)}u(t) = (2+ 3t)e~ u(t) Ac = [aloe = f [[L one -ne| wu ~ L [fixe] at-njat Ac [7 ole-net = Asay ‘This property can be readily verified from Examples 2.7 and 2.8, For Example 2.6, we note that et gy) Use of this result yields A, example 28, Ay Ay = 05, and Ay = 1-05 = 05 = ArAy For 1.5, and A (2 —2—8) ae st22. a(at) + gat) = [- xerpaott—nyar = Ef atwtat—w) deo = laa) e20 When a <0, the limits of integration become from 90 to —00, which is equivalent to the limits from —oo to oo with a negative sign. Hence, 2(at) + g(at) = |} le(at). 3. Let x(t) + g(t) = e(t). Using the time scaling property in Prob. 24-2 with a = —1, we have 2(-#) « g(t) = e(=t). Now, if x(t) and g(¢) are both even functions of t, then x(t) = x(t) and g(~£) = o(t). Clearly o(t) = e(—2). Using a parallel argurnent, we can show that if both functions are odd, e(t) = c(—t), indicating that e(t) is even, But if one is odd and the other is even, e(t) = —c(—t), indicating that e(t) is odd. u(t) eMule) = Because both functions are causal, their convolution is zero for t <0, Therefore e*uft) »eMu(t) = (=) uo) “ uiryule—rar fort <0 u(t)su) = ‘Therefore u(t) + u(t) = tga) (i) Because both functions are causal ett u(t) +e 8tafe) = [eee 9 ar and eMtult) Mult) = te*u(e) (ii) Because both funetions are causal tu(t) + u(e rulr)u(r = t) dr ‘The range of integration is 0 0 and + ~t > 0 so thatand tient = eu) 246. (i) sinte() «t= ([ “snr u(r)ult—rér) u() Because r and {7 are both nonnegative (when 0 we mod ite caly wp to r= 1 1 . ae ey ee en ee Figure $24.16 shows hy and o(t) (the result of the convotution) ule T) KD y oe tT Figure $2.4-15, t> 24-16, For t <2 (ore Figure $2416) oft) = 2(¢) + oft) = inrdr=1—cost = OSES Oe For ¢ 2 2x, the area of one cycle is zero and x(t) +9() =0 t22n and t<0Figure $2.4-16 DALIT. Por 0 St 2x (coe Figure $2.4-178) a(t) +0(0) = fi sinrdr = 1~ cost O dr (also for ¢<0), 2(¢) x 9(t) =0. Figure $2.4-17¢ shows (t) tr2T @ CY Figure $2.4-17 ot) = [28 aBdr=42 ostsos i) = 2, ABdr= AB) O5-1 elt) = JE da -1>t>-4 e(t)ott) ane [eterno emote 120 =0 t<-3 i} elt) = [OR Ag dr = tan) FS lt) = [oq chy dr =tant rf =z 121 o ~ O-1 co()=0 for t20 () a()=et, mx) e*, aylz)=e%, a(t 7) ser, = [cerrarce® Pe trn wy = [cor rarwet fear et} a = [ceric fou eet zens di) = 0 te-2 ~ 24-19. 0 = 6(t) — A(t 2) [wordrna () af) W() = (6t0 ~ 6-200 (55*) - s()-0(59 os By inspection, we find ‘Thereforeq s & t + b é fe 2 : 2 -4--48 \o | a y ax | v t t 7 t be _ b ---4 ' i” L fate 4 an . -b--oh > i 1 ea * » L---| e< 2 | a |? ==Thk * * t e * eos eae g ' ' ~~ oe a x we if. eon a a mx 3 Beit cA. g te (a) elt) t y --/E H . ' ~ ye L ett) (hy 1 [S” 7 N ; Jo a i Pa vw A ye = v 7 ¢ r tel 2-H t lo z= ay “QZ -iteleeFigure $2.4-19 shows 2()+W) 4. vi Figure $2.4-19 24-20. The unit impulse response of an ideal delay of T seconds is A(t) = 6(¢~T). Using Ea. L. (2.48), we obtain H(s) For an input (4) = Ba. (2.49) 6524-21 ult) = x(t) #h(0). Por t< 1, u(t) Por -1<¢<0, ll) = foy(r + 0dr For t > 0, y(t) = J°,(r + I)dr = 1/2. Thus, 2/r4 oft =O ee ap2 0 t<-1 w={ erseriye -1st> t + Linspace(0,6*pi,201); y_0 = cos(t); plottt,y_0,°"); >> axis tight; xlabel(?t(LC)~{-1/2)?); ylabel?y_0(t)’); 66© 24-24. (a) (b) Figure $2.4-234: Plot of volt) Since yo(t) is a non-decaying sinusoid, it continues forever; the initial conditions never die out. Since L = C= 1, dag = 43. Let folt) = Ge" +oxe™. Using Jo(0) = 0 = 2 +e, ‘we know & =~. Combining with g{2(0) = 11= 921 ~ 3, we know 236 = 1 or = ~y05. Thus, @ = 30.5 and g(t) = 2 in(t). Prom this, the system response is determined to be h(t) = zh sin(t)u() = sin(t)u() Next, the zero.state response is computed as x(t) ¢ h(t) = ffsinze-(-"dr (et ffimag(ereryar) ue) = (Imag (e“ fe") (ims (es S52f_.) wo = (Imes (tS) wo (imag, ut) = (Imag (0.56% ~ 10.56% — 0.5(1 ~ se) u(t) (bssin(t) ~ 05 c08() + 0.564 u) Summing the zero-state response and the zero-input response calculated in 2.4-23¢ yields the total response, y(t) = x(t) * h(t) + w(t) = (0.5sin(t) - 0.5 cos(t) + 0.5e~* + cas(!)) ult). Thus, " u(t) = (0.5sin(t) + 0.5 cost) + 0.5e~*) u(t). MATLAB is used to sketch (0) and ho(0). >> RE = inLine(? (I-t),»((>40)=(e>*1))7); >> b2 = inline ’t.«((t>#-2)-(>=2))"); >> b= Linspace(-2.5,2.5,501); >> subplot (211), plot (thi (t), 7k?) >> axis({-2.5 2.5 -2.5 2.5]); xlabel(’t?); ylabel (R41 (t)")5 >> subplot (212), plot (t,h2(t),K?); >> axis((-2.5 2.5 -2.8 2.5]; slabel('t?); ylabel("m_2(e)"); For a parallel connection, hp() = h(t) + a(t). MATLAB is used to plot y(t) >> AL = Snline(? (1-t) .#((42=0)-(2>=1))9; >> b2 = inline ('t.+((t>=-2)-(2>=2))"); >> t= Linspace(-2.8,2.5,801); hp = hi(t)#na(t); oTFigure $2.4-24a: Plots of h(t) and ha(t) >> plot(t hp, ?K?); >> axis([-2.5 2.5 -2.5 2.5); xlabel('t?); ylebel(*h_p(t) "2; sly || Y a aa 4 Figure $2.4-24b: Plot of hp(t) (©) For a series connection, h(t) = Ai(l) + ha(t), For (¢ < -2), A,() = “| For (-2 $t < -1), A(O) =a = a\t—ndr = fF? (t-r0+) +?)dr = fr-(t4N4/247/3 A/r+ m+ 2/3 For (~1 < t < 2), Ra(t) = fal - rt —7)dr tr = (t+ I)r?/2 + 79/3], =e (b+ 1/2 + HY: = H(t 2) = (C4 1)(t + 2)/24 (t+2)9/3 e/6+ fy (t= r(t +1) #7?) dr = 2-146. For @ < t < 3 A) = fig ~ At - nr Ja (t-te) 40) dr 1/6 — (Ut 2) — (4 Y(t 297/24 29°73) (-18/6 + 88/24 24 — 14/3) = 0/6 — 2/2 — 31/2 + 9/2. For (t > 3), halt) = 0. 68 tr (4 Dot rl = 2 y2 = 6 =Combining all pieces yields 8/6 402/24 442/38 -2St<-1 _ 1-1/6 “sts? hAO= 9 p—e/2—sy2sof2 2> t = Linspace(-2.5,3.5,501) 5 D> he = (-t.79/HE.~2/2420092/3) (> >> he = he+(t/2-1/6) .#((e>=-1)B(t<2)); D> hs = hst(t.-3/6-t.°2/2-3et/249/2) .#((4>=2)(e63)) ¢ >> plot(t,hs,""); xlabel('t"); ylebel(?h_9(t)?25 2)ECLe1)) 5 Figure $2.4-24e: Plot of h(t) Using KVL, (0 = RCE) + ult) oF at) + peult) = gox(t). The characteristic root is = ‘The zero-input response has form yo(t) = ce~"/(*. Using the IC, yo(0) oy. Ths, yo(t) = 2°20 ‘The zero-state response is x(t) * h(t), where h(t) = bod(e) + [P(D)golt)}u(e). For this first-order system, go(!) = &1e~"/) and jo(0) = 1 = &. Using Bolt) = eV), by = 0, and PUD) = abs, the impulse response is A(t) PeetMRu(L), "Thus, the zero-state response is (ff goed) u(t) = (er H0>f 4) wey = (1 er) uf. For ¢ > 0, the total response is the sum of the zero-input response and the zero state response, wo (eer) (9) From 2.4:25a, we know the zero-input response is yo(t) = yo(O)e-“/*O. Since the system is time-invariant, the unit step response from 2.4-25a is shifted by one to provide the response to z(t) = u(t — 1). ‘Thus, the zero-state response is (ie DAR) u(t ~ 1), Suraming the two parts together and evaluating at 69