EEE342 21 December 2020

EEE342
Midterm

There are 6 problems. Keep a cool head and calmly work through the problems one
by one. Good luck!

Problem 1 (20 points)

Consider the mass-spring system below. The mass of the system is m, the spring
constant is k. The displacement of the mass is x. Assume a force u is applied on the
mass in the downward direction. Neglecting gravity, answer the
following:

(a) Write the equations of motion of the system.

(b) Find the transfer function x(s)/u(s) of the system. Assume zero
initial conditions.

(c) Let m=1, k=2. Assume an impulse force is applied. What is u(s)?
Sketch the resulting response x(t).

(d) Assume a step force is applied. Using Laplace Transforms find x(t).

Problem 2 (20 points)

(a) Solve the following differential equation using Laplace Transforms:

!̈ + 2!̇ + 4! = 0, !(0) = 1, !̇(0) = 1

(b)
0(1) 1(1 3 45146)
Consider the system . (/ ) = =
2(1) (7146)(147)(145)

(i) Use the Initial Value Theorem to find y(t) at t=0 for a ramp input.

(ii) Use the Final Value Theorem to find y(t) at t= for a ramp input.

(iii) For a step input, what is y(t) ?

EEE342 21 December 2020

Problem 3 (15 points)

Draw the pole locations of the following systems and sketch the time response.

6
(a) . (/) = 18 471469

6
(b) . (/) = 18 :;146<

6
(c) . (/) = 18 4=

6
(d) . (/) = 18 :6>

(e) Is the following system a valid system? Explain why or why not.
1
.(/) =
/ + 2 − 7A

Problem 4 (23 points)

Draw the pole-zero maps for the following system. Is the system stable or unstable?
Why?

(146)(1 8 :B)
(a) . (/) = 18 (147)(18 :=)(18 4B1465)

(1:7)(1 8 :714C)(1 8 46)

(b) . (/) = 13 (145)(18 4B)(18 :>1465)
EEE342 21 December 2020

Problem 5 (20 points)

A certain servomechanism system has dynamics dominated by a pair of complex

poles and no finite zeros. The time domain specifications on rise time (tr), overshoot
(Mp), and settling time (ts) are given by:

tr 0.6 sec, Mp 16%, ts 9.2 sec

(a) Sketch the region in the s-plane where the poles could be placed so that the
system will meet the tr and Mp specifications (i.e. ignore ts specification).

(b) Now consider the ts specification. Is the ts specification violated in the allowable
region of part (a) ? Please explain.

(c) On your sketch, show the region where tr is satisfied but Mp is violated. Ignore ts.

(d) In a new sketch, show the region in the s-plane where the poles could be placed
so that ALL three specifications are met.

(e) Carefully indicate on your new sketch the specific locations (denoted by x) that
will have the smallest rise time and also meet the settling time specification exactly.

Problem 6 (12 points)

Consider the feedback control system in Figure 1:

R(s) + Y(s)
Σ G(s)
-
D(s)

Figure 1

G
DEF .(/) = /(/+3) IJK L(/) = M/ + 3

0(1)
(a) Derive, step by step, the closed-loop transfer function .
N(1)
EEE342 21 December 2020

O(1)
(b) Define L(s) = R(s) – Y(s). Derive the transfer function
N(1)
.

(c) Find the steady state value of L (i.e. Lss) for a ramp reference input.

(d) Let A = 2. If one of the requirements is Lss 0.1, what is the requirement on the
parameter K ?
Table of Laplace Transforms
Number F (s) f (t), t 0

1 1 (t)
1
2 1(t)
s
1
3 t
s2
2!
4 t2
s3
3!
5 t3
s4
m!
6 m+1
tm
s
1
7 e at
(s + a)
1
8 te at
(s + a)2
1 1 2 at
9 t e
(s + a)3 2!
1 1
10 t m 1 e at
(s + a)m (m 1)!
a
11 1 e at
s(s + a)
a 1
12 2
(at 1 + e at )
s (s + a) a
b a
13 e at e bt
(s + a)(s + b)
s
14 (1 at)e at
(s + a)2
a2
15 1 e at (1 + at)
s(s + a)2
(b a)s
16 be bt ae at
(s + a)(s + b)
a
17 sin at
(s + a2 )
2
s
18 cos at
(s2 + a2 )
s+a
19 e at cos bt
(s + a)2 + b2
b
20 e at sin bt
(s + a)2 + b2
a 2 + b2 ⇣ a ⌘
21 ⇥ ⇤ 1 e at cos bt + sin bt
s (s + a)2 + b2 b
104 Chapter 3 Dynamic Response
3. Time Scaling
It is sometimes useful to time-scale equations of motion. For example, in the
control system of a disk drive, it is meaningful to measure time in millisec-
onds (see also Chapter 10). If the time t is scaled by a factor a, f1 (t) = f (at),
then the Laplace transform of the time-scaled signal is
Z 1
1 ⇣s⌘
F1 (s) = f (at)e st dt = F . (3.39)
0 |a| a

4. Shift in Frequency
Multiplication (modulation) of f (t) by an exponential expression in the time
domain, f1 (t) = e at f (t), corresponds to a shift in the frequency domain:
Z 1
F1 (s) = e at f (t)e st dt = F(s + a). (3.40)
0

5. Differentiation
The transform of the derivative of a signal is related to its Laplace transform
and its initial condition as follows:
⇢ Z 1✓ ◆
df df
L = e st dt = f (0 ) + sF(s). (3.41)
dt 0 dt
Another application of Eq. (3.41) leads to

L{f¨ } = s2 F(s) sf (0 ) f˙ (0 ). (3.42)

Repeated application of Eq. (3.41) leads to

1 2˙ 1)
L{ f m (t)} = sm F(s) sm f (0 ) sm f (0 ) ··· f (m (0 ), (3.43)

where f m (t) denotes the mth derivative of f (t) with respect to time.

6. Integration
R t Laplace transform of the integral of a time function f (t); f1 (t) =
The
0 f (⇠ ) d⇠ , is given by,
⇢Z t
1
F1 (s) = L f (⇠ ) d⇠ = F(s), (3.44)
0 s

which means that we simply multiply the function’s Laplace transform by 1s .

7. Convolution
We have seen previously that the response of a system is determined by
convolving the input with the impulse response of the system, or by forming
the product of the transfer function and the Laplace transform of the input.
The discussion that follows extends this concept to various time functions.
816 Appendix A Laplace Transforms
Solution. We write the partial fraction as
C1 C2 C3
F(s) = + + .
s + 1 s + 2 (s + 2)2
Then
s+3
C1 = (s + 1)F(s)|s= 1 = s= 1
= 2,
(s + 2)2
d h i
C2 = (s + 2)2 F(s) s= 2
= 2,
ds
s+3
C3 = (s + 2)2 F(s)|s= 2 = s= 2
= 1.
s+1
The function f (t) is
t 2t 2t
f (t) = (2e 2e te )1(t).
The partial fraction computation can also be carried out using Matlab’s
residue function,
num = [1 3]; % form numerator
den = conv([1 1],[1 4 4]); % form denominator
[r,p,k] = residue(num,den) % compute residues
which yields the result
r=[ 2 1 2]’, p = [ 2 2 1]’, and k = [ ];
and agrees with the hand calculations.
The following commands in Matlab yields the same result for the inverse
Laplace transform,
syms s t
ilaplace((s+3)/((s+1)*(s+2)ˆ2)).

A.1.3 The Initial Value Theorem

We discussed the Final Value Theorem in Chapter 3. A second valuable
Laplace transform theorem is the Initial Value Theorem, which states that
it is always possible to determine the initial value of the time function f (t)
from its Laplace transform. We may also state the theorem in this way:

The Initial Value Theorem For any Laplace transform pair,

lim sF(s) = f (0+ ). (A.27)
s!1

We may show this as follows.

Using Eq. (A.11), we get
⇢ Z 1
df st df
L = sF(s) f (0 ) = e dt. (A.28)
dt 0 dt
 A.1 The L Laplace Transform 817
Let us consider the case in which s ! 1 and rewrite the integral as
Z 1 Z 1 Z 0+
st df (t) st df (t) df (t)
e dt = e dt + e st dt.
0 dt 0 + dt 0 dt
Taking the limit of Eq. (A.28) as s ! 1, we get
"Z + Z 1 #
0 df (t) st df (t)
lim [sF(s) f (0 )] = lim e0 dt + e dt .
s!1 s!1 0 dt 0+ dt
The second term on the right side of the preceding equation approaches
zero as s ! 1, because e st ! 0. Hence
lim [sF(s) f (0 )] = lim [f (0+ ) f (0 )] = f (0+ ) f (0 )
s!1 s!1
or
lim sF(s) = f (0+ ).
s!1
In contrast with the Final Value Theorem, the Initial Value Theorem can be
applied to any function F(s).

EXAMPLE A.11 Initial Value Theorem

Find the initial value of the signal in Example 3.13.

Solution. From the Initial Value Theorem, we get
3
y(0+ ) = lim sY (s) = lim s = 0,
s!1 s!1 s(s 2)
which checks with the expression for y(t) computed in Example 3.13.

A.1.4 Final Value Theorem

The Final Value Theorem If all poles of sY (s) are in the left half of the s-plane, then
lim y(t) = lim sY (s). (3.54)
t!1 s!0

Proof of the Final Value Theorem

We may prove this result as follows. The derivative relationship developed
in Eq. (3.41) is
⇢ Z 1
dy dy
L = sY (s) y(0 ) = e st dt.
dt 0 dt
We assume we are interested in the case where s ! 0. Then
✓Z 1 ◆
st dy
lim [sY (s) y(0)] = lim e dt = lim [y(t) y(0)],
s!0 s!0 0 dt t!1