44 LTI Systems Descaibed by Differential Equations 7 Table 4.1 Form of the Natural Response for Analog LI Systems Entry | Root of Characteristic Equation | Form of Natural Response 1 | Real and distinct: r Ke 2 | Complex conjugate: #4 jw [K, cos(wt) + Ko sin(ut) 3 | Real, repeated: r?#? (Ky + Kits Kit + 8 cos(ust)(Ao + Art + Ant? An?) 4 | Complex, repeated: (i+ ju)" + ef sinliot)(By 4+ Bit + Bal? 4-0-4 By?) Table 4.2 Form of the Forced Response for Anal ae stems Note: If the right-hand side (RHS) is e*, where « is also a root of the characteristic equation repeated r times, the forced response form must be multiplied by t” Entry ] Forcing Function (RHS) —_] Form of Forced Response 1 | Cy (constant) Cy (another constant) 2 | e%* (ace note above) Cem 3 | cos(ut + 6) Cyeos(wt) + Czsin(t) or Ceos(ut +9) 4 ‘os(ut + 8) (see note above) | e*#[C; cos(wt) + C2 sin(wt)] 5 |e CoG 6 fe Cy Fit + Cat? b+ Oye 7 | tee" (see note above) (Cy + Cit) 8 | Pe (Soe note above) (Cy + Ost + Cat Ct?) 9 | teos(wt +8) (C+ Cat)oos(it) + (Cs + Cyt)sin(wt) REVIEW PANEL 4.9 ‘The Response of LTI Systems Dese ibed by Differential Equations ‘Total Response = Natural Response + Forced Response ‘The roots of the characteristic equation determine only the form of the natural re The input terms (RHS) of the differential equation completely determine the forced response. Initial conditions satisfy the total response to yield the constants in the natural response.5.A_Digital Filters Described by Difference Equations ‘Table 5.1 Form of the Natural Response for Discrete LTI Systems 10 Entry ] Root of Characteristic Equation ] Form of Natural Response 1 | Real and distinct: + Kr 2 | Complex conjugate: re™ 7°[K; cos(ns) + Ke sin(n)] 3 | Real, repeated: 1?# (Ko + Kin + Kar 4 K, 4 | Comptes, repeated: (ret)? 7 cos(nf}(Ay + Ain + Ayn? +--+ Ayn?) Pr sin(nO)(Bo + Bun + Ban 40 4 By ‘Table 5.2 Form of the Forced Response for Discrete LT Note: If the right-hand side (RIS) is a”, where a is also a root of the characteristic equation repeated p times, the forced response form must be multiplied by n®, Entry | Forcing Function (RHS) | Form of Forced Response 1 |G (constant) ; (another constant) 2 | a” (Gee note above) ca" 3 | cos(n +2) Gi cos(n) + Crsin(n) or Ceos(n+ 9) 4 | a cos(nit + 8) (see note above) | a*[C; cos(n) + Cr ain(n) = € 6 le Co 4 Cnt Ca 4 4 Cpe 7 | na (see note above) an(Ca + in) S| na (eee note above) @"(C + Cin s Ct + Gn?) 0 | meos(nt 4 (Ci + Can)cos(n) + (Ca + Can)sin(n®) REVIEW PANEL 5.8 Response of LTT Systems Described by Difference Equations ‘Total Response = Natural Response + Forced Response ‘The roots of the characteristic equation determine only the form of the natural response. The input terms (RHS) of the difference equation completely determine the for Initial conditions satisfy the total response to yield the constants in the natural response. od response