Zero-input response basics

  Remember that for a Linear System

Lecture 3
Total response = zero-input response + zero-state response

Time-domain analysis:
  In this lecture, we will focus on a linear system’s zero-input response, y0
Zero-input Response (t), which is the solution of the system equation when input x(t) = 0.
(Lathi 2.1-2.2)

Peter Cheung ⇒
Department of Electrical & Electronic Engineering
Imperial College London ⇒
URL: www.ee.imperial.ac.uk/pcheung/teaching/ee2_signals ⇒
E-mail: p.cheung@imperial.ac.uk
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General Solution to the zero-input response equation(1) General Solution to the zero-input response equation(2)

  From maths course on differential equations, we may solve the equation:
  We get:



(3.1)
by letting , where c and λ are constants


(3.1)

  Then:
  This is identical to the polynomial Q(D) with λ replacing D, i.e.

Substitute into (3.1)
  We can now express Q(λ) in factorized form:

. (3.2)

  Therefore λ has N solutions: λ1, λ2,
. , λN, assuming that all λi are
distinct.
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 General Solution to the zero-input response equation(3) Characteristic Polynomial of a system

  Therefore, equation (3.1):
  Q(λ) is called the characteristic polynomial of the system

  Q(λ) = 0 is the characteristic equation of the system
has N possible solutions:
  The roots to the characteristic equation Q(λ) = 0, i.e. λ1, λ2,
. , λN, are
extremely important.
where are arbitrary constants.
  They are called by different names:
•  Characteristic values

  It can be shown that the general solution is the sum of all these terms: •  Eigenvalues
•  Natural frequencies

  The exponentials are the characteristic modes
(also known as natural modes) of the system

  In order to determine the N arbitrary constants, we need to have N
constraints (i.e. initial or boundary or auxiliary conditions).
Characteristics modes determine the system’s behaviour

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Example 1 (1) Example 1 (2)

Find y0(t), the zero-input component of the
  To find the two unknowns c1 and c2, we use the initial conditions
response, for a LTI system described by
the following differential equation: y0 (0) = 0, y
0 (0) = −5.
( D2 + 3D + 2) y(t ) = Dx(t )

  This yields to two simultaneous equations:
when the initial conditions are
y0 (0) = 0, y
0 (0) = −5.

  For zero-input response, we want to find the solution to:
  Solving this gives:

  The characteristic equation for this system is therefore:

  Therefore, the zero-input response of y(t) is given by:

  The characteristic roots are therefore λ1 = -1 and λ2 = -2.

  The zero-input response is
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 Repeated Characteristic Roots Example 2

  The discussions so far assume that all characteristic roots are distinct. If Find y0(t), the zero-input component of the response for a LTI system
2
there are repeated roots, the form of the solution is modified. described by the following differential equation: ( D + 6D + 9) = (3D + 5) x(t )

  The solution of the equation:
when the initial conditions are y0 (0) = 3, y
0 (0) = −7.
is given by:
  The characteristic polynomial for this system is:

  In general, the characteristic modes for the differential equation:

  The repeated roots are therefore λ1 = -3 and λ2 = -3.
are:
  The zero-input response is

  The solution for y0(t) is
  Now, determine the constants using the initial conditions gives c1 = 3 and
c2 = 2.

  Therefore:
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Complex Characteristic Roots Example 3 (1)

  Solutions of the characteristic equation may result in complex roots.

Find y0(t), the zero-input component of the response for a LTI system

  For real (i.e. physically realizable) systems, all complex roots must occur described by the following differential equation: ( D2 + 4D + 40) = ( D + 2) x(t )
in conjugate pairs. In other words, the coefficients of the characteristic
polynomial Q(λ) are real. when the initial conditions are y0 (0) = 2, y
0 (0) = 16.78.

  In other words, if α + jβ is a root, then there must exists the root α - jβ.

  The zero-input response corresponding to this pair of conjugate roots is:
  The characteristic polynomial for this system is:

  For a real system, the response y0(t) must also be real. This is possible
only if c1 and c2 are conjugates too.

  Let
  The complex roots are therefore

  This gives

  The zero-input response in real form is (α = -2, β = 6)

. (12.1)

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 Example 3 (1) Comments on Auxiliary conditions

  To find the constants c and θ, we use the initial conditions y0 (0) = 2, y
0 (0) = 16.78.
  Why do we need auxiliary (or boundary) conditions in order to solve for

  Differentiating equation (12.1) gives: the zero-input response?

  Differential operation is not invertible because information is lost.

  To get y(t) from dy/dt, one extra piece of information such as y(0) is

  Using the initial conditions, we obtain: needed.

  Similarly, if we need to determine y(t) from d2y/dt2, we need 2 pieces of
information.

  This reduces to:

  In general, to determine y(t) uniquely from its Nth derivative, we need N
additional constraints.

  Hence
  These constraints are called auxiliary conditions.

  When these conditions are given at t = 0, they are initial conditions.

  Finally, the solution is

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The meaning of 0- and 0+ Insights into Zero-input Behaviour

  There are subtle differences between time t = 0 exactly, time just before
  Assume (a mechanical) system is initially at rest.
t=0, i.e. t = 0- and time just AFTER t=0, i.e. t = 0+.
  Now disturb it momentarily, then remove the disturbance (now it is zero-

  At t = 0- the total response y(t) consists SOLELY of the zero-input input), the system will not come back to rest instantaneously.
component y0(t).
  In generally, it will go back to rest over a period of time, and only through

  However, applying an input x(t) at t=0, while not affecting y0(t), in general some special type of motion that is characteristic of the system.
WILL affect y(t) (because input is now no longer zero).
  Such response must be sustained without any external source (because
the disturbance has been removed).

  In fact the system uses a linear combination of the characteristic modes
to come back to the rest position while satisfying some boundary (or
initial) conditions.
t=0
- t=0
+

time
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t=0
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 An example The Resonance Behaviour

  This example demonstrates that any combination of characteristic modes
  Any signal consisting of a
can be sustained by the system with no external input. system’s characteristic mode is

  Consider this RL circuit: sustained by the system on

  The loop equation is: its own.

  It has a single characteristic root λ = -2,
  In other words, the system
offers NO obstacle to such
and the characteristic mode is signals.

  Therefore, the loop current equation is
  It is like asking an alcoholic to

  Now, let us compute the input x(t) required to sustain this loop current: be a whisky taster.

  Driving a system with an input
of the form of the characteristic
The loop current is sustained
mode will cause resonance
by the RL circuit on its own behaviour.
without any external input.
  Demonstration:

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Relating this lecture to other courses

  Zero-input response is very important to understanding control systems.

However, the 2nd year Control course will approach the subject from a
different point of view.

  You should also have come across some of these concepts last year in
Circuit Analysis course, but not from a “black box” system point of view.

  Ideas in this lecture is essential for deep understanding of the next two
lectures on impulse response and on convolution, both you have touched
on in your first year in the Communications course.

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