Professional Documents
Culture Documents
First Order System - Slides
First Order System - Slides
SYSC 3600 A
Roshdy H. M. Hafez
Department of Systems and Computer Engineering
Carleton University
Fall 2020
1
Now, the L.H.S. looks like the time derivative of 𝑒 𝑦 𝑡
𝑑 𝑑𝑦 𝑡
𝑒 𝑦 𝑡 𝑒 𝑎𝑒 𝑦 𝑡
𝑑𝑡 𝑑𝑡
Call it: 𝑣 𝑡 𝑒 𝑦 𝑡 Then:
𝑑
𝑣 𝑡 𝑏𝑒 𝑥 𝑡
𝑑𝑡
Now, integrate both sides from “0” to “t”
𝑑𝑣 𝜆 𝑏𝑒 𝑥 𝜆 𝑑𝜆
𝑣 𝑡 𝑣 0 𝑏𝑒 𝑥 𝜆 𝑑𝜆
𝑒 𝑦 𝑡 𝑦 0 𝑏𝑒 𝑥 𝜆 𝑑𝜆
y(0) is the initial condition of the output
Multiply both sides by: 𝑒
𝑦 𝑡 𝑦 0 𝑒 𝑏𝑒 𝑥 𝜆 𝑑𝜆
The solution above is made up of two terms: a natural (zero input)
solution and a forced solution:
𝑛𝑎𝑡𝑢𝑟𝑎𝑙 𝑦 𝑡 𝑦 0 𝑒 ; 𝑓𝑜𝑟 𝑡 0
𝐹𝑜𝑟𝑐𝑒𝑑 𝑦 𝑡 𝑏𝑒 𝑥 𝜆 𝑑𝜆
2
The forced response can be written like this:
𝑦 𝑡 ℎ 𝜆 𝑥 𝑡 𝜆 𝑑𝜆
Where h(t) is the system impulse response
ℎ 𝑡 𝑏𝑒 ; 𝑓𝑜𝑟 𝑡 0
The mathematical form of the forced solution is know as the
“convolution Integral”
The meaning of system impulse response will be discussed shortly
The mathematical convolution integral of any two time functions,
z(t) and g(t) is:
𝑧 𝜆 𝑔 𝑡 𝜆 𝑑𝜆 𝑜𝑟 𝑔 𝜆 𝑧 𝑡 𝜆 𝑑𝜆
3
Two important Signals used in Modelling
1 ‐Unit Step u(t)
1 ; t 0
u(t ) 1
0 ; t 0
time
Since part of the signal is unity and the other part is zero, this
signal is used to define different regions:
e.g. [u(t)‐u(t‐2)] define a region between t=0 and t=2. Outside
that region the value of the combined signal is zero
2‐ Unit Impulse
; t 0
(t ) (t)
0 ; t 0
Infinite magnitude
d & zero width
(t ) u (t )
dt
t time
u(t ) ( ) d
‐ Note that the total area under the unit impulse function is
concentrated at t=0 and it is equal to the product of zero x
infinity.
‐ But, zero x infinity is indeterminate.
‐ Since we assume that the unit impulse is the time derivative of
the unit step, then the area is unity.
4
Example 1
The input to a LTI system is 𝑥 𝑡 𝛿 𝑡 The system impulse
response is ℎ 𝑡 10 𝑒 u(t) Use the convolution method to
determine the output 𝑦 𝑡
𝑦 𝑡 𝑥 𝑡 ∗ℎ 𝑡 ℎ 𝜆 𝑥 𝑡 𝜆 𝑑𝜆
10 𝑒 𝛿 𝑡 𝜆 𝑑𝜆
10 𝑒 𝑢 𝑡 ℎ 𝑡
As expected, the system response to an impulse input is the
“impulse response” ℎ 𝑡
Example 2
The input to a LTI system is 𝑥 𝑡 𝑢 𝑡 The system impulse
response is ℎ 𝑡 10 𝑒 u(t) Use the convolution method to
determine the output 𝑦 𝑡
𝑦 𝑡 𝑥 𝑡 ∗ℎ 𝑡 ℎ 𝜆 𝑥 𝑡 𝜆 𝑑𝜆 10 𝑒 𝑢 𝑡 𝜆 𝑑𝜆
Be careful!! 𝑢 𝑡 𝜆 defines an integration interval along the
𝜆 axis. Sketch it to get the correct integration limits.
x()
𝑦 𝑡 𝑥 𝑡 ∗ℎ 𝑡 10 𝑒 𝑑𝜆
1
𝑦 𝑡 2 1 𝑒 𝑢 𝑡
x(‐)
y(t)
2
x(t‐)
0 t t
10
10
5
Example 3
Find y(t) 𝑦 𝑡 𝑥 𝑡 ∗ℎ 𝑡
𝑥 𝑡 𝑢 𝑡 1 𝑢 𝑡 3
ℎ 𝑡 𝑢 𝑡
The integration limits depend on the time shift “t”
For 𝑡 1 𝑦 𝑡 0
h()
For 1 𝑡 3 𝑦 𝑡 𝑑𝜆 𝑡 1 1
For 𝑡 3 𝑦 𝑡 𝑑𝜆 2
x(t‐)
y(t)
2 t‐3 t‐1 t
1 3 t
11
11