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Mark Fowler
Discussion #3a
Review of Differential Equations
d m f (t ) df (t ) d n y (t ) d n 1 y (t ) + an 1 + ... + a0 y (t ) = bm + ... + b1 + b0 f (t ) an n n 1 m dt dt dt dt
-coefficients are constants TI -No nonlinear terms Linear Examples of Nonlinear Terms:
d k y (t ) d p y (t ) f (t ), , dt k dt p
n
d k y (t ) d p y (t ) y (t ), , etc. dt k dt p
n
In the following we will BRIEFLY review the basics of solving Linear, Constant Coefficient Differential Equations under the Homogeneous Condition Homogeneous means the forcing function is zero That means we are finding the zero-input response that occurs due to the effect of the initial coniditions. m is the highest-order derivative on the input side We will assume: m n n is the highest-order derivative on the output side
=Q( D)
= P( D)
Diff . Eq.
Q( D) y (t ) = P( D) f (t )
Due to linearity: Total Response = Zero-Input Response + Zero-State Response Z-I Response: found assuming the input f(t) = 0 but with given ICs Z-S Response: found assuming ICs = 0 but with given f(t) applied
D.E. : Q( D) y zi (t ) = 0
()
D n + an 1 D n 1 + ... + a1 D + a0 y zi (t ) = 0
t > 0
Put y0(t) into () and use result for the derivative of an exponential:
c(n + an 1n 1 + ... + a1 + a0 )e t = 0
must = 0
d n e t = n et dt n
Characteristic polynomial
is a solution
is a solution
{e }
i t n
i =1
Real Root: i
= i + j 0 e i t
real real
i > 0 i < 0 t i = 0
e i t = e i t
i < 0
= i + j i + e j i t
i > 0
t t
i = 0
t
To get only real-valued solutions requires the system coefficients to be real-valued. Complex roots of C.E. will appear in conjugate pairs:
i = + j k = j
Conjugate pair
ci e it + ck e k t = ci et e jt + ck et e jt
C j e 2
Use Euler!
C j e 2
Cet cos(t + )
t>0
Q( ) = ( 1 ) r ( 2 )( 3 )...( p )
p=n-r
e it , te 1t , t 2 e 1t ,..., t r 1e 1t
satisfy ()
ZI Solution:
Differential Equation Examples Find the zero-input response (i.e., homogeneous solution) for these three Differential Equations. Example (a)
d 2 y (t ) dt
2
+3
dy (t ) df (t ) + 2 y (t ) = dt dt
w/ I.C.s
D 2 y (t ) + 3Dy (t ) + 2 y (t ) = Df (t )
D 2 y (t ) + 3Dy (t ) + 2 y (t ) = 0
The derivative of the z-s soln. must also satisfy the ICs so:
5 = y (0) = C1e 0 2C2 e 0 zi C1 + 2C2 = 5
5e 2t 13 2
Second Mode
Zero-Input Response
Because the characteristic roots are real and negative the modes and the Z-I response all decay to zero w/o oscillations
Example (b):
d 2 y (t ) dt 2 +6 df (t ) dy (t ) + 9 y (t ) = 3 + 5 f (t ) dt dt
w/ I.C.s
D 2 y (t ) + 6 Dy (t ) + 9 y (t ) = 3Df (t ) + 5 f (t )
D 2 y (t ) + 6 Dy (t ) + 9 y (t ) = 0
= (3 + 2t )e 3t
second mode
Second Mode
0 0 0.4 0.2 0 0 3 2 1 0 0
Zero-Input Response
5 t (sec)
10
Because the characteristic roots are real and negative the modes and the Z-I response all
Example (c):
d 2 y (t ) dt 2 +4 df (t ) dy (t ) + 40 y (t ) = + 2 f (t ) dt dt
w/ I.C.s
D 2 y (t ) + 4 Dy (t ) + 40 y (t ) = Df (t ) + 2 f (t )
D 2 y (t ) + 4 Dy (t ) + 40 y (t ) = 0
Following the same procedure with some manipulation of complex exponentials into a cosine The particular zero-input solution is: Set by the ICs
y zi (t ) = 4e 2t cos(6t + / 3)
Imag. part of root controls oscillation Real part of root controls Decay
Second Mode
Zero-Input Response
ant C 0
0 4 2 0 -2 -4 0
e Th caus s Be 0.6 0.7 0.1 0.2 0.3 0.4 de0.5 Mo t the y Plo l Easi
0.1 0.2 0.3 0.4 0.5 0.6 0.7
0.8
0.9
4e-2t -4e-2t
0.5 1 1.5 2 t (sec) 2.5 3 3.5 4
Because the characteristic roots are complex have oscillations! Because real part of root is negative !!!
Big Picture The structure of the D.E. determines the char. roots, which determine the character of the response:
Decaying vs. Exploding (controlled by real part of root) Oscillating or Not (controlled by imag part of root)
The D.E. structure is determined by the physical systems structure and component values.