Lecture 4

ex: d²x +4 dx +3x = e

dt²
dt
X (s) =
Sotre x (t) = ?
s²X_(s) + 45 X (s) + 3 X (5)= 3+3
1
(5² +45 + 3) (5 +3)
Check poles: (s+3)² (5+1) = 0
Ș₁ =3 5₂ = -3₁ 53 = -1

(5+1)
(5+3) ² (5/₁)
real, multiplicity=2 real, distinct case A
Case B
(543,2
(573)²(5+1)
-36
8₁ +
= (5+1) 81
5+
= 83
1
(s+3)² (sti) PFE 5+3
# of pokes = # of terms on right hand side
Selve 83 rst
(-3+1)
1
(5+3)²(SHI)
82
(5+3)
50=0
+ √₂
= (5+3)² 81 + dz
3+3
(5+3)
=j²
+ 83
(s+√3)² +.
y²
5.+1
1/1/12 =
Solve 82, 182 reside with highest power of Puctor)
2]
-83
s+1
・])im s-
+3
5-2-1
Hlim 5-7-3
-]₁
=-1/2
fi
how to nd Xi and (all other residues with lower
powers of repeated facter)
go back to 82 computation, before take the limit
take denir of both sides with respect to s'
TP
ds sti
= ((5+3) ₁ +82 + (5 +31² 83) — 5
ds
sti
-2
(-1² +₁5²

= 8₁ + = = =(:-)83 ) lims-3-3
d
ds
- 1/2 = 8,1
x₁==1/4
(5+3)² (5+1)
82===
= -7/4 + -1/2
5+3
J
2-1
512-3
(5+3)2
Î
L-1
-38
[√x (6) = -1e²³6 - Lee-²³6
4
52-3
83=
e36 +
+ 1/4
(sti)
↓
L
te
4
53=-1
fi
case A: poles are real distraat, 51, 52, 53, 54...
solution
will be in the following form
8
ice
case B
Sk t
=
S1 = -3
di è3€ + ₂ è
,e
di esite
52=-4
-4t
Si, si, si, si
Sit + √₂ te
SIE

real but repeated roots

Sulutun (tmo) = re
+8₂
TE
5₁₁2 = -2 ± 8 j
8 1/26 sin (86+7)
Set
53= -8 84--20
+84 è-20€
+ 8z €-8€
+.
+8₂ +²e
S₁6
case Ci poles are complex conjugate.
5₁₁ 2 = J + ju
+ 84 t³ e
3 sit
sm (wt + p)
5₁,2 = 4 ± 7 j
me4t sin (7++8)
ex:
d²x
de 2
+2 dx + 10x = P₁ [c=0
de
• nd TF b/w Fis) and X(S)
• If F(s) is a unit step imput, solve X(t)

IC=0, & the difpoy

5² X (s) +25_X (s) + 10 X 15) = F (S)
X(15) = 1
F(S)
IP F(S) is a wit step, F(s) Its
X (S) = F(S) ·TF =
51 Z 0
real
distmut, Case A
5² + 25 + 10
Poles = S(S² + 25 +10) = 0
5₂,3 = -1 ± 35
|
5 [5² +25 +10)
(571-35) (5+1+33)
S
s(5² + 25 +10)
Complex
conjugale
case C
+
82
S+1+3j
+
83
S+1-3J
L
L X(E)
fi
solve ri
8
8 (5²+25+10)
=81
±
solve 82
5+1+30
s (3²+ 25 to)
1
s(s+13,j) = 82
8₂ = −3+5
60
nd 83
=
5+1-3 j
5(5²+ 25 +10)
2
=
X (s) = bot
S
Top
(S+₁+35) (...
s#²5 +1+35) 15-2-1+35
SC-
=
/ 5-2-1-35 -
1= 83 =
of Page
5+1-35.
-(3+5)
Co
SH+3J
s).(-
+
2²² (+0)=e**?
X (E) = 1 + ('3-j) e(-1-351€
Go
-)
J-3
60
)
(5-3)/66
sti-35
+1-
A
2
1
(-1-35) (-1-35 +1 -33
7
+ 60
Irm s->o
-; -3 e
(−1+35) €
fi
solve ri
$
5 (5² +25+10)
1/2 =
solve 8₂
= 8₁
5+1+30
S (s+ 25 to)
nd 83
-3
8₂ = −3+5
60
5+1-3 j
S(5²+ 25 +10)
=
5 ( 3+1=33) = √² | 5-2-1-35
8/₂
+04 = (5) X
}}
S
= 83
55 +1+3j) 15-2=1+35

(s+₁+35) (....)
SC.
-(3+5)
Co
SH+3J
&² (+6)=e**?
= 5+₁-35 (-)
=
.)
+
j-3
60
(-1-35) (-1-35 +1 -35
(j-3)/66
5+1 -3j
1
lim 5->0
6-=-1²-= + 2(156-1-2² 15-2²-5 + 7 = 19) ►
-;-3 (-1+35) €
fi
Evler re
x (t) = 1 +
lo
10
21
Lo
=1
Lo
:
+ -3-j
60
↑
8.20
X (E)= + +e
[0
60
+ J-3
-t
+ (-3 = √ ) e - ². é
e
e
es
SP
-6
30

= Ccs p + i smy
-= -356
+226
60
e-€ (ces (-36) +j sm (-36))
-t
e (cos3t + jsm 3E)
(-6C43€ -28m 3€)
-
30
(3 (C36 + sm 3€)
• TTO 5m (3€ +Y)
Î
5₂,3 = -1 ± 3 j
e
30€
To summarize (PFE)
doff eq Laplace X (s) = N(S)
D(S)
D(S)=0 -Droots =poles sirrisn
Sn
Case A, B, C of PFE
knowing the pole values, we can qualitatively
X(E) is Without PFE.
knew mat
L no se siager
the form
Solution (time) = {rkeske
F (S) ->

Case A
1
ms²+cs +k
Gi
cit
but solution will be in
Jm 6
F.G₁=Z
+ E pt
Care B
Erme
sin (Wmt +Pm)
quantitatively need to still solve for all 8.
Rule
In
in ²6₂ x
G2
->
F
->.X (5)
cut
P
ZG₂ = X
F•[G₁ • G₂] = X
e
Sp t
X = F. 1
+
ms²+cs+k
{