HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY

FACULTY OF MECHANICAL ENGINEERING

SYSTEM DYNAMICS AND CONTROL

REPORT ASSIGNMENT 1
Lecturer: Assoc Prof, PhD. Nguyễn Tấn Tiến
Class: L03
Member list:
No. Student ID Full name Email
1 1910758 Ngô Huỳnh Anh anh.ngoanhdep20@hcmut.edu.vn
2 1910214 Phạm Mạnh Huy huy.pham.21122000@hcmut.edu.vn
3 1911485 Hồng Đức Linh linh.hong0510@hcmut.edu.vn
4 1914737 Lê Quý Phương phuong.le1903@hcmut.edu.vn

HO CHI MINH CITY, JANUARY 2022

HCMC UNIVERSITY OF TECHNOLOGY SYSTEM DYNAMICS AND CONTROL
FACULTY OF MECHANICAL ENGINEERING REPORT ASSIGNMENT 1
CONTENTS

Exercise 1.1: .................................................................................................................................... 2

Exercise 1.2: .................................................................................................................................... 2
Exercise 1.3: .................................................................................................................................... 3
Exercise 1.8: .................................................................................................................................... 3
Exercise 1.17: .................................................................................................................................. 4
Exercise 1.18: .................................................................................................................................. 6
Exercise 1.19: .................................................................................................................................. 7
Exercise 1.20: ................................................................................................................................ 11

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HCMC UNIVERSITY OF TECHNOLOGY SYSTEM DYNAMICS AND CONTROL
FACULTY OF MECHANICAL ENGINEERING REPORT ASSIGNMENT 1
Exercise 1.1:
The resistance of a potentiometer is varied by moving a wiper arm along a fixed resistance. The
resistance from 𝐴 to 𝐶 is fixed, but the resistance from 𝐵 to 𝐶 varies with the position of the
wiper arm. It takes 10 turns to move the wiper arm from 𝐴 to 𝐶.
Draw a block diagram of the potentiometer.
input angle , ( )

C
output voltage, 0( )

Solving method
100
10 turn yields are (50 − −50) = 100(V). Therefore 𝐾 = 10×2𝜋 = 1.59 , we have:

Input angle K = 1.59 Output voltage

Exercise 1.2:
A temperature control system operates by:
• Sensing the difference between the thermostat setting and the actual temperature.
• Opening a fuel valve an amount proportional to this difference.
Draw a functional closed-loop block diagram identifying the input and output transducers, the
controller, and the plant. Further, identify the input and output signals of all subsystems
previously described.

TC TT

Solving method

Desired Temperature Voltage Fuel Actual

temperature difference difference flow temperature

Thermostat Amplifier and valves Heater

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HCMC UNIVERSITY OF TECHNOLOGY SYSTEM DYNAMICS AND CONTROL
FACULTY OF MECHANICAL ENGINEERING REPORT ASSIGNMENT 1
Exercise 1.3:
Draw a functional block diagram for a closed-loop system that stabilizes the roll as follows:
• System measures the actual roll angle with a gyro and compares the actual roll angle with the
desired roll angle.
• Ailerons respond to roll angle error by undergoing an angular deflection.
• Aircraft responds to this angular deflection, producing a roll angle rate.
Identify the input and output transducers, the controller, and the plant. Further, identify the
nature of each signal.

Solving method

Input voltage Error voltage Aileron position Roll rate Roll angle

Aileron
Desired Aircraft
Pilot controls position Intergrate
Roll angle dynamics
control

Gyro voltage
Gyro

Exercise 1.8:
Bathtub is a control system that keeps the water level constant. A constant flow from the tap
yields a constant water level, because the flow rate through the drain increases as the water level
increases, and decreases as the water level decreases. After equilibrium has been reached, the
level can be controlled by controlling the input flow rate. A low input flow rate yields a lower
level, while a higher input flow rate yields a higher level.
a. Sketch a control system that uses this principle to precisely control the fluid level in a tank.
Show the intake and drain valves, the tank, any sensors and transducers, and the interconnection
of all components.
b. Draw a functional block diagram of the system, identifying the input and output signals of
each block.

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FACULTY OF MECHANICAL ENGINEERING REPORT ASSIGNMENT 1
Solving method
a.
Fluid Input

Valve
Actuator

Power
amplifier

Differential
Desired
R level
amplifier

Float R

Tank
Drain

b.

Voltage in Flow rate in Actual level

Desired Actuator
Potentionmeter Amplifiers Intergrate
level and valve

Drain
Flow rate out

Voltage out Displacement

Potentionmeter Float

Exercise 1.17:
Given the electric network shown in the figure.
a. Write the differential eq. for the network if 𝑣(𝑡) = 𝑢(𝑡), a unit step.
b. Solve the differential eq. for the current 𝑖(𝑡) if there is no initial energy in the network.
c. Make a plot of your solution if 𝑅/𝐿 = 1.
R

vi(t) L
i(t)

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FACULTY OF MECHANICAL ENGINEERING REPORT ASSIGNMENT 1
Solving method
a.
di
L + Ri = u(t) (∗)
dt
b.
First Order Differential Equation:
𝑦 ′ + 𝑝(𝑥)𝑦 = 𝑞(𝑥)
Having characteristic number :
𝑦 = 𝑒 − ∫ 𝑝(𝑥).𝑑𝑥 × [∫ 𝑞 (𝑥)𝑒 ∫ 𝑝(𝑥).𝑑𝑥 𝑑𝑥 + 𝐶]

𝑅 𝑢(𝑡)
So (∗) is 𝑖 ′ + 𝑖= , u(t) is a unit step.
𝐿 𝐿
Calculating:
𝑅 𝑅
∫ 𝑑𝑡 = 𝑡
𝐿 𝐿
1 𝑅 1 𝑅
∫ 𝑒 𝐿 𝑡 𝑑𝑡 = 𝑒 𝐿 𝑡
𝐿 𝑅
𝑅 1 𝑅 1 𝑅
𝑖 = 𝑒 − 𝐿 𝑡 × [ 𝑒 𝐿 𝑡 + 𝐶] = + 𝐶𝑒 − 𝐿 𝑡
𝑅 𝑅
1 1 𝑅
When 𝑡 = 0, 𝑖 = 0 → 𝐶 = − . So we have: 𝑖 = (1 − 𝑒 − 𝐿 𝑡 )
𝑅 𝑅
c.
Using Matlab:
x=linspace(0,6,50);
y=(1-exp(-x));
plot(x,y);
grid on
hold on
xlabel('t')
ylabel('i x R')
ylim([0 2])

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Exercise 1.18:
Given the electric network shown in the figure with the numerical values:
𝑅 = 2 𝛺, 𝐿 = 1 𝐻, 1/𝐿𝐶 = 25
a. Write the differential eq. for the network if 𝑣(𝑡) = 𝑢(𝑡), a unit step.
b. Solve the differential eq. for the current, 𝑖(𝑡), if there is no initial energy in the network.
c. Make a plot of your solution.

L R

vi (t) C
i(t)

Solving method
a.
𝑑𝑖 1
𝐿 + 𝑅𝑖 + ∫ 𝑖(𝑡)𝑑𝑡 + 𝑣𝑐 (0) = 𝑢(𝑡) (∗)
𝑑𝑡 𝐶
b.
Differentiating and substituting values
𝑑2𝑖 𝑑𝑖 1 𝑑2𝑖 𝑑𝑖
(∗) → 𝐿 +𝑅 + 𝑖 =0→ + 2 × + 25 × 𝑖 = 0 (𝑢(𝑡) is a unit step)
𝑑𝑡 𝑑𝑡 𝐶 𝑑𝑡 𝑑𝑡
The Second-Order Linear Equations:
𝑦 ′′ + 𝑝(𝑥)𝑦 ′ + 𝑞(𝑥)𝑦 = 𝑓(𝑥), in this case 𝑓(𝑥) = 0
Calculating the characteristic equation :

𝑘 2 + 2𝑘 + 25 = 0 ↔ 𝑘 = −1 ± 2√6𝑖 → 𝑎 = −1, 𝑏 = 2√6

Having characteristic number (for complex numbers of k) :
𝑦0 = 𝑒 𝑎𝑥 × [𝐶1 cos(𝑏𝑥) + 𝐶2 sin(𝑏𝑥)]
So, we have :

𝑖(𝑡) = 𝑒 −𝑡 × [𝐶1 cos(2√6 × 𝑡) + 𝐶2 sin (2√6 × 𝑡)] (**)

When 𝑡 = 0, 𝑖(0) = 0 → 𝐶1 = 0 → 𝑖(𝑡) = 𝑒 −𝑡 × 𝐶2 × sin (2√6 × 𝑡)

Differentiating and substituting values :
𝑑𝑖
(∗∗) → = 𝐶2 × 2√6 × [𝑒 −𝑡 cos(2√6 × 𝑡) − 𝑒 −𝑡 sin (2√6 × 𝑡)]
𝑑𝑡

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𝑑𝑖 1 1
When ∶ 𝑡 = 0, = 0 → 𝐶2 = → 𝑖(𝑡) = 𝑒 −𝑡 × × sin (2√6 × 𝑡)
𝑑𝑡 2√6 2√6
1
Finally, we get ∶ 𝑖(𝑡) = × 𝑒 −𝑡 × sin (√24 × 𝑡)
√24
c.
Using Matlab
x=linspace(0,10,1001);
y=(1/sqrt(24))*exp(1).^(-x).*sin((sqrt(24))*x);
plot(x,y);
grid on
hold on
xlabel('t')
ylabel('i')

Exercise 1.19:
Solve the following differential equations using classical
methods. Assume zero initial conditions
𝑑𝑥
a. + 7𝑥 = 5 cos 2𝑡
𝑑𝑡
2
𝑑 𝑥 𝑑𝑥
b. 2 + 6 + 8𝑥 = 5 sin 3𝑡
𝑑𝑡 𝑑𝑡
𝑑2 𝑥 𝑑𝑥
c. 2 + 8 + 25𝑥 = 10𝑢(𝑡)
𝑑𝑡 𝑑𝑡

Solving method
𝑑𝑥
a. + 7𝑥 = 5 cos 2𝑡 (∗)
𝑑𝑡
Multiply 2 of (*) with 𝑒 7𝑡 , we have:
𝑑𝑥
𝑒 7𝑡 + 7𝑒 7𝑡 × 𝑥 = 5𝑒 7𝑡 × cos2𝑡
𝑑𝑡
𝑑𝑥(𝑡) 𝑑(𝑒 7𝑡 )
→ 𝑒 7𝑡 +𝑥 = 5𝑒 7𝑡 × cos2𝑡
𝑑𝑡 𝑑𝑡
𝑑(𝑥(𝑡) × 𝑒 7𝑡 )
→ = 5𝑒 7𝑡 × cos2𝑡
𝑑𝑡
→ 𝑑(𝑥(𝑡) × 𝑒 7𝑡 ) = (5𝑒 7𝑡 × cos2𝑡)𝑑𝑡

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→ 𝑥(𝑡) × 𝑒 7𝑡 = 5 ∫(𝑒 7𝑡 × cos2𝑡)𝑑𝑡 + 𝐶 (1)

Where C is a constant
Set 𝐼 = ∫(𝑒 7𝑡 × cos2𝑡)𝑑𝑡, we have:
7𝑡 𝑑𝑢 = 7𝑒 7𝑡 𝑑𝑡
Set { 𝑢 = 𝑒 → { 1
𝑑𝑣 = cos2𝑡𝑑𝑡 𝑣 = 2 sin2𝑡

Then:
1 7𝑡 1
𝐼 = 𝑢 × 𝑣 − ∫ 𝑣𝑑𝑢 = 𝑒 × sin2𝑡 − ∫ × 7𝑒 7𝑡 × sin2𝑡𝑑𝑡 (2)
2 2
Set 𝐴 = ∫ 𝑒 7𝑡 × sin2𝑡𝑑𝑡 ,we have:

𝑢′ = 𝑒 7𝑡 𝑑𝑢′ = 7𝑒 7𝑡 𝑑𝑡
Set { => { ′ 1
𝑑𝑣′ = sin2𝑡𝑑𝑡 𝑣 = − 2 cos2𝑡

Then:
1 1
𝐴 = 𝑢′ × 𝑣 ′ − ∫ 𝑣 ′ 𝑑𝑢′ = − 𝑒 7𝑡 × cos2𝑡 + ∫ × 7𝑒 7𝑡 × cos2𝑡𝑑𝑡 (3)
2 2
Replace (3) into (2), we have:
1 7𝑡 7 1 1
𝐼= 𝑒 × sin2𝑡 − × (− 𝑒 7𝑡 × cos2𝑡 + ∫ × 7𝑒 7𝑡 × cos2𝑡𝑑𝑡 )
2 2 2 2
1 7𝑡 7 49
= 𝑒 × sin2𝑡 + 𝑒 7𝑡 × cos2𝑡 − ∫ 𝑒 7𝑡 × cos2𝑡𝑑𝑡
2 4 4
1 7𝑡 7 49
= 𝑒 × sin2𝑡 + 𝑒 7𝑡 × cos2𝑡 − 𝐼
2 4 4
2 7𝑡 7
→𝐼= 𝑒 × sin2𝑡 + 𝑒 7𝑡 × cos2𝑡 (4)
53 53
Replace (4) into (1), we have:
2 7𝑡 7
𝑥(𝑡) × 𝑒 7𝑡 = 5 × ( 𝑒 × sin2𝑡 + 𝑒 7𝑡 × cos2𝑡)
53 53
10 7𝑡 35
→ 𝑥(𝑡) × 𝑒 7𝑡 = 𝑒 × sin2𝑡 + 𝑒 7𝑡 × cos2𝑡 + 𝐶
53 53
10 35
→ 𝑥(𝑡) = sin2𝑡 + cos2𝑡 + 𝐶𝑒 −7𝑡
53 53
We have:
𝑥(0) = 0

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10 35
→ sin(0) + cos(0) + 𝐶𝑒 0 = 0
53 53
35
→𝐶=−
53
So the solution of equation (*) is:
10 35 35
𝑥(𝑡) = sin2𝑡 + cos2𝑡 − 𝑒 −7𝑡
53 53 53
𝑑2𝑥 𝑑𝑥
b. 2
+6 + 8𝑥 = 5 sin 3𝑡 (1)
𝑑𝑡 𝑑𝑡
Consider the homogeneous differential equation: 𝑥 ′′ + 6𝑥 ′ + 8𝑥 = 0
The following characteristic equation: 𝑘 2 + 6𝑘 + 8 = 0 => 𝑘1 = −2, 𝑘2 = −4
General solutions of homogeneous differential equations:
𝑥0 = 𝐶𝑒 −2𝑡 + 𝐷𝑒 −4𝑡
Where C, D are constants
We have: 𝑓(𝑡) = 5sin3𝑡 = 5𝑒 0𝑡 × sin3𝑡
→ 𝛼 = 0 is not a equation of the following characteristic equation, so the partial solution of (1)
has the form:
𝑋 = 𝐴cos3𝑡 + 𝐵sin3𝑡
→ 𝑋 ′ = −3𝐴sin3𝑡 + 3𝐵cos3𝑡
→ 𝑋 ′′ = −9𝐴cos3𝑡 − 9𝐵sin3𝑡
Replace 𝑋, 𝑋 ′ , 𝑋′′ into (1), we have:
−9𝐴cos3𝑡 − 9𝐵sin3𝑡 + 6(−3𝐴sin3𝑡 + 3𝐵cos3𝑡) + 8(𝐴cos3𝑡 + 𝐵sin3𝑡) = 5sin3𝑡
→ (18B − A)cos3𝑡 − (18𝐴 + 𝐵)sin3𝑡 = 5sin3𝑡
18𝐵 − 𝐴 = 0
→{
−𝐵 − 18𝐴 = 5
𝐴 = −18/65
→{
𝐵 = −1/65
18 1
→𝑋=− cos3𝑡 − 𝑠in3𝑡
65 65
So the general solution of (1) has the form:
18 1
𝑥(𝑡) = 𝑥0 + 𝑋 = 𝐶𝑒 −2𝑡 + 𝐷𝑒 −4𝑡 − cos3𝑡 − 𝑠in3𝑡
65 65
We have: 𝑥(0) = 0

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18 1
→ 𝐶𝑒 0 + 𝐷𝑒 0 − cos (0) − sin (0) = 0
65 65
18
→𝐶+𝐷 = (2)
65
We have: 𝑥 ′ (0) = 0
18 1
→ −2𝐶𝑒 0 − 4𝐷𝑒 0 + 3 × sin (0) − 3 × cos (0) = 0
65 65
3
→ −2𝐶 − 4𝐷 = (3)
65
From (2) and (3), we have:
𝐶 + 𝐷 = 18/65 𝐶 = 15/26
{ →{
−2𝐶 − 4𝐷 = 3/65 𝐷 = −3/10
So the general solution of (1) is:
15 −2𝑡 3 18 1
𝑥(𝑡) = 𝑒 − 𝑒 −4𝑡 − cos3𝑡 − 𝑠in3𝑡
26 10 65 65
𝑑2 𝑥 𝑑𝑥
c. 2
+8 + 25𝑥 = 10𝑢(𝑡) (1)
𝑑𝑡 𝑑𝑡
Consider the homogeneous differential equation: 𝑥 ′′ + 8𝑥 ′ + 25𝑥 = 0
The following characteristic equation: 𝑘 2 + 8𝑘 + 25 = 0 => 𝑘1 = −4 + 3𝑖, 𝑘2 = −4 − 3𝑖
General solutions of homogeneous differential equations:
𝑥0 = 𝑒 −4𝑡 × (𝐶cos3𝑡 + 𝐷sin3𝑡)
Where C, D are constants
We have: 𝑓(𝑡) = 10𝑢(𝑡) = 10𝑒 0𝑡 × 𝑢(𝑡)
→ 𝛼 = 0 is not a equation of the following characteristic equation, so the partial solution of (1)
has the form:
𝑋=𝐴
→ 𝑋′ = 0
→ 𝑋 ′′ = 0
Replace 𝑋, 𝑋 ′ , 𝑋′′ into (1), we have:
0 + 0 + 25𝐴 = 10
2
→𝐴=
5
So the general solution of the equation of (1) has the form:

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2
𝑥(𝑡) = 𝑥0 + 𝑋 = + 𝑒 −4𝑡 × (𝐶cos3𝑡 + 𝐷sin3𝑡)
5
We have: 𝑥(0) = 0
2
→ + 𝑒 0 × [𝐶cos(0) + 𝐷sin(0)] = 0
5
2
→𝐶=−
5
We have: 𝑥 ′ (0) = 0
→ −4𝑒 0 × [𝐶cos(0) + 𝐷sin(0)] + 𝑒 0 × [−3𝐶sin(0) + 3𝐷cos(0)] = 0
→ −4𝐶 + 3𝐷 = 0
8
→𝐷=−
15
So the general solution of (1) is:
2 2 8
𝑥(𝑡) = − 𝑒 −4𝑡 × ( cos3𝑡 + sin3𝑡)
5 5 15
Exercise 1.20:
Solve the following differential equations using classical methods. Assume zero initial
conditions
𝑑2𝑥 𝑑𝑥 𝑑𝑥
a. 2 + 2 + 2𝑥 = 5 sin 2𝑡 ; 𝑥(0) = 2, (0) = −3
𝑑𝑡 𝑑𝑡 𝑑𝑡
𝑑2𝑥 𝑑𝑥 𝑑𝑥
b. 2 + 2 + 𝑥 = −3; 𝑥(0) = 2, (0) = 1
𝑑𝑡 𝑑𝑡 𝑑𝑡
𝑑2 𝑥 𝑑𝑥
c. 2 + 4𝑥 = 𝑡 2 , 𝑥(0) = 1, (0) = 2
𝑑𝑡 𝑑𝑡
Solving method
𝑑2𝑥 𝑑𝑥 𝑑𝑥
a. 2
+2 + 2𝑥 = 5 sin 2𝑡 ; 𝑥(0) = 2, (0) = −3
𝑑𝑡 𝑑𝑡 𝑑𝑡
Consider the homogeneous differential equation: 𝑥 ′′ + 2𝑥 ′ + 2𝑥 = 0
The following characteristic equation: 𝑘 2 + 2𝑘 + 2 = 0 => 𝑘1 = −1 + 𝑖, 𝑘2 = −1 − 𝑖
General solutions of homogeneous differential equations:
𝑥0 = 𝑒 −𝑡 × (𝐶cos𝑡 + 𝐷sin𝑡)
Where C, D are constants
We have: 𝑓(𝑡) = sin2𝑡 = 𝑒 0𝑡 × sin2𝑡
→ 𝛼 = 0 is not a equation of the following characteristic equation, so the partial solution of (1)
has the form:
𝑋 = 𝐴cos2𝑡 + 𝐵sin2𝑡

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→ 𝑋 ′ = −2𝐴sin2𝑡 + 2𝐵cos2𝑡
→ 𝑋 ′′ = −4𝐴cos2𝑡 − 4𝐵sin2𝑡
Replace 𝑋, 𝑋 ′ , 𝑋′′ into (1), we have:
−4𝐴cos2𝑡 − 4𝐵sin2𝑡 + 2(−2𝐴sin2𝑡 + 2𝐵cos2𝑡) + 2(𝐴cos2𝑡 + 𝐵sin2𝑡) = sin2𝑡
→ (4B − 2A)cos3𝑡 − (4𝐴 + 2𝐵)sin3𝑡 = sin2𝑡
4𝐵 − 2𝐴 = 0
→{
−2𝐵 − 4𝐴 = 1
1
𝐴=−
→{ 5
1
𝐵=−
10
1 1
→ 𝑋 = − cos2𝑡 − 𝑠in2𝑡
5 10
So the general solution of the equation of (1) has the form:
1 1
𝑥(𝑡) = 𝑥0 + 𝑋 = 𝑒 −𝑡 × (𝐶cos𝑡 + 𝐷sin𝑡) − cos2𝑡 − 𝑠in2𝑡
5 10
We have: 𝑥(0) = 2
1 1
→ 𝑒 0 × [𝐶cos(0) + 𝐷sin(0)] − cos (0) − sin (0) = 2
5 10
11
→𝐶=
5
We have: 𝑥 ′ (0) = −3
1
→ −𝑒 0 × [𝐶cos(0) + 𝐷sin(0)] + 𝑒 0 × [−𝐶sin(0) + 𝐷cos(0)] + 2 × sin(0)
5
1
−2 × cos(0) = −3
10
14
→ −𝐶 + 𝐷 = −
5
3
→𝐷=−
5
So the general solution of the equation of (1) is:
11 3 1 1
𝑥(𝑡) = 𝑒 −𝑡 × ( cos𝑡 − sin𝑡) − cos2𝑡 − 𝑠in2𝑡
5 5 5 10
𝑑2𝑥 𝑑𝑥 𝑑𝑥
b. 2
+2 + 𝑥 = −3; 𝑥(0) = 2, (0) = 1
𝑑𝑡 𝑑𝑡 𝑑𝑡
Consider the homogeneous differential equation: 𝑥 ′′ + 2𝑥 ′ + 𝑥 = 0
The following characteristic equation: 𝑘 2 + 2𝑘 + 1 = 0 => 𝑘1 = 𝑘2 = −1

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FACULTY OF MECHANICAL ENGINEERING REPORT ASSIGNMENT 1
General solutions of homogeneous differential equations:
𝑥0 = 𝐶𝑒 −𝑡 + 𝐷𝑡𝑒 −𝑡
Where C, D are constants
Consider the equation:
𝑑2 𝑥 𝑑𝑥
2
+2 + 𝑥 = 5𝑒 −2𝑡 (2)
𝑑𝑡 𝑑𝑡
We have: 𝑓(𝑡) = 5𝑒 −2𝑡
→ 𝛼 = −2 is not a equation of the following characteristic equation, so the partial solution of (2)
has the form:
𝑋1 = 𝐴𝑒 −2𝑡
→ 𝑋1′ = −2𝐴𝑒 −2𝑡
→ 𝑋1′′ = 4𝐴𝑒 −2𝑡
Replace 𝑋, 𝑋 ′ , 𝑋′′ into (2), we have:
4𝐴𝑒 −2𝑡 − 4𝐴𝑒 −2𝑡 + 𝐴𝑒 −2𝑡 = 5𝑒 −2𝑡
→𝐴=5
→ 𝑋1 = 5𝑒 −2𝑡
Consider the equation:
𝑑2 𝑥 𝑑𝑥
2
+2 + 𝑥 = 𝑡 (3)
𝑑𝑡 𝑑𝑡
We have: 𝑔(𝑡) = 𝑡 = 𝑒 0𝑡 × 𝑡
→ 𝛼 = 0 is not a equation of the following characteristic equation, so the partial solution of (3)
has the form:
𝑋2 = 𝐵𝑡 + 𝐸
→ 𝑋2′ = 𝐵
→ 𝑋2′′ = 0
Replace 𝑋2 , 𝑋2′ , 𝑋2′′ into (3), we have:
𝐵𝑡 + 𝐸 + 2𝐵 = 𝑡
𝐵=1
→{
2𝐵 + 𝐸 = 0
𝐵=1
→{
𝐸 = −2
→ 𝑋2 = 𝑡 − 2

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So the general solution of the equation of (1) has the form:
𝑥(𝑡) = 𝑥0 + 𝑋1 + 𝑋2 = 𝐶𝑒 −𝑡 + 𝐷𝑡𝑒 −𝑡 + 5𝑒 −2𝑡 + 𝑡 − 2
We have: 𝑥(0) = 2
→ 𝐶𝑒 0 + 𝐷 × 0 × 𝑒 0 + 5𝑒 0 + 0 − 2 = 2
→ 𝐶 = −1
We have: 𝑥′′(0) = 1
→ −𝐶𝑒 0 + 𝐷𝑒 0 − 𝐷 × 0 × 𝑒 0 − 10𝑒 0 + 1 = 1
→𝐷=9
So the general solution of the equation of (1) is:
𝑥(𝑡) = 𝑥0 + 𝑋1 + 𝑋2 = −𝑒 −𝑡 + 9𝑡𝑒 −𝑡 + 5𝑒 −2𝑡 + 𝑡 − 2
𝑑2 𝑥 𝑑𝑥
c. 2
+ 4𝑥 = 𝑡 2 , 𝑥(0) = 1, (0) = 2
𝑑𝑡 𝑑𝑡
Consider the homogeneous differential equation: 𝑥 ′′ + 4𝑥 = 0
The following characteristic equation: 𝑘 2 + 4 = 0 => 𝑘1 = 2𝑖, 𝑘2 = −2𝑖
General solutions of homogeneous differential equations:
𝑥0 = 𝐶cos2𝑡 + 𝐷sin2𝑡
Where C, D are constants
We have: 𝑓(𝑡) = 𝑡 2 = 𝑒 0𝑡 × 𝑡 2
→ 𝛼 = 0 is not a equation of the following characteristic equation, so the partial solution of (1)
has the form:
𝑋 = 𝐴 𝑡 2 + 𝐵𝑡 + 𝐸
→ 𝑋′ = 2𝐴𝑡 + 𝐵
→ 𝑋′′ = 2𝐴
Replace 𝑋, 𝑋 ′ , 𝑋′′ into (1), we have:
2𝐴 + 4(𝐴 𝑡 2 + 𝐵𝑡 + 𝐸) = 𝑡 2
→ 4𝐴𝑡 2 + 4𝐵𝑡 + 2𝐴 + 4𝐸 = 𝑡 2
4𝐴 = 1
→ { 4𝐵 = 0
2𝐴 + 4𝐸 = 0

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1
𝐴=
4
→ 𝐵=0
1
𝐸=−
{ 8
So the general solution of the equation of (1) has the form:
1 1
𝑥(𝑡) = 𝑥0 + 𝑋 = 𝐶cos2𝑡 + 𝐷sin2𝑡 + 𝑡 2 −
4 8
We have: 𝑥(0) = 1
1 1
→ 𝐶cos0 + 𝐷sin0 + × 02 − = 1
4 8
9
→𝐶=
8
We have: 𝑥′(0) = 2
2
→ −2𝐶sin0 + 2𝐷cos0 + ×0= 2
4
→𝐷=1
So the general solution of the equation of (1) is:
9 1 1
𝑥(𝑡) = cos2𝑡 + sin2𝑡 + 𝑡 2 −
8 4 8

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