Chapter 2 Modeling in the Frequency Domain

Skill-Assessment Exercise 2.5

𝑠
𝐺(𝑠) =
(𝑠 + 4)(𝑠 + 8)

According to TABLE 1.1 Test waveforms used in control systems

𝐶(𝑠) 𝑠
𝐺(𝑠) = =
𝑅(𝑠) (𝑠 + 4)(𝑠 + 8)

𝑠
𝐶(𝑠) = 𝐺(𝑠)𝑅(𝑠) = 𝑅(𝑠)
(𝑠 + 4)(𝑠 + 8)
Ramp response
𝑟(𝑡) = 𝑡𝑢(𝑡)
Laplace transformation
1
𝑅(𝑆) =
𝑠2
Thus
𝑠 1
𝐶(𝑠) = 𝐺(𝑠)𝑅(𝑠) =
(𝑠 + 4)(𝑠 + 8) 𝑠 2
Using the Partial-Fraction Expansion
1 𝐾1 𝐾2 𝐾3
= + +
𝑠(𝑠 + 4)(𝑠 + 8) 𝑠 𝑠+4 𝑠+8
To find K1, multiply by s
1 𝐾1 𝐾2 𝐾3
𝑠= 𝑠+ 𝑠+ 𝑠
𝑠(𝑠 + 4)(𝑠 + 8) 𝑠 𝑠+4 𝑠+8

1 𝐾2 𝑠 𝐾3 𝑠
= 𝐾1 + +
(𝑠 + 4)(𝑠 + 8) 𝑠+4 𝑠+8
s→0
1 𝐾2 (0) 𝐾3 (0)
= 𝐾1 + +
(0 + 4)(0 + 8) 0+4 0+8

1
𝐾1 =
32
To find K2, multiply by s+4
1 𝐾1 𝐾2 𝐾3
(𝑠 + 4) = (𝑠 + 4) + (𝑠 + 4) + (𝑠 + 4)
𝑠(𝑠 + 4)(𝑠 + 8) 𝑠 𝑠+4 𝑠+8

1 𝐾1 (𝑠 + 4) 𝐾3 (𝑠 + 4)
= + 𝐾2 +
𝑠(𝑠 + 8) 𝑠 𝑠+8
s→-4
1 𝐾1 (−4 + 4) 𝐾3 (−4 + 4)
= + 𝐾2 +
−4(−4 + 8) −4 −4 + 8

1 𝐾1 (0) 𝐾3 (0)
= + 𝐾2 +
−4(4) −4 4

1
𝐾2 = −
16
To find K3, multiply by s+3
1 𝐾1 𝐾2 𝐾3
(𝑠 + 8) = (𝑠 + 8) + (𝑠 + 8) + (𝑠 + 8)
𝑠(𝑠 + 4)(𝑠 + 8) 𝑠 𝑠+4 𝑠+8

1 𝐾1 (𝑠 + 8) 𝐾2 (𝑠 + 8)
= + + 𝐾3
𝑠(𝑠 + 4) 𝑠 𝑠+4
s → -8
1 𝐾1 (−8 + 8) 𝐾2 (−8 + 8)
= + + 𝐾3
−8(−8 + 4) −8 −8 + 4

1 𝐾1 (0) 𝐾2 (0)
= + + 𝐾3
−8(−4) −8 −4

1
𝐾3 =
32
We got
1 1 1
𝐾1 = , 𝐾2 = − , 𝐾3 =
32 16 32

1 1 1 1
𝐶(𝑠) = = − +
𝑠(𝑠 + 4)(𝑠 + 8) 32𝑠 16(𝑠 + 4) 32(𝑠 + 8)
Inverse Laplace
1 1 −4𝑡 1 −8𝑡
𝑐(𝑡) = = − 𝑒 + 𝑒
32 16 32

2.4 Electrical Network Transfer Functions

2.5 Translational Mechanical System Transfer Functions

The mechanical system requires just one differential equation which is the equation of motion
Steps to find transfer function of Translational Mechanical System
1. Assume a positive direction of motion to the right
2. Draw a free-body diagram (i.e. Placing all forces that act on the body)
3. Use Newton’s law to form a differential equation of motion (i.e. summing the forces and setting the
sum equal to zero)
4. Assuming zero initial conditions
5. Take the Laplace transform of the differential equation,
6. Separate the variables
7. Arrive at the transfer function

Example 2.16 Transfer Function—One Equation of Motion

PROBLEM: Find the transfer function, X(s)/F(s), for the system of Figure 2.15(a).
SOLUTION:
1. Assume a positive direction of motion to the right
2. Draw a free-body diagram (i.e. Placing all forces that act on the body)
Look at M:

𝑥 𝑡
𝑘𝑥 𝑡
𝑑𝑥 𝑓 𝑡
𝑓𝑣
𝑑𝑡
𝑑 2𝑥
𝑀 2
𝑑𝑡
3. Use Newton’s law to form a differential equation of motion (i.e. summing the forces and setting the
sum equal to zero)
𝑑𝑥 𝑑2𝑥
𝑘𝑥(𝑡) + 𝑓𝑣 + 𝑀 2 = 𝑓(𝑡)
𝑑𝑡 𝑑𝑡
4. Assuming zero initial conditions
5. Take the Laplace transform of the differential equation,
 𝑋 𝑠
𝐾𝑋 𝑠
𝑓𝑣 𝑠𝑋 𝑠 𝐹 𝑠
𝑀𝑠 2 𝑋 𝑠

𝐾𝑋(𝑠) + 𝑓𝑣 𝑠𝑋(𝑠) + 𝑀𝑠 2 𝑋(𝑠) = 𝐹(𝑠)

6. Separate the variables

7. Arrive at the transfer function

𝑜𝑢𝑡𝑝𝑢𝑡 𝑋(𝑠) 1 1
𝐺(𝑠) = = = =
𝑖𝑛𝑝𝑢𝑡 𝐹(𝑠) (𝐾 + 𝑓𝑣 𝑠 + 𝑀𝑠 ) (𝑀𝑠 + 𝑓𝑣 𝑠 + 𝐾)
2 2