Representation and Analysis of Dynamic Systems
Lab 1
Exercise 1: basic properties of the Laplace transform
1.1 Given a signal u(t) and its Laplace transform U(s) write the delay theorem, the final value theorem, the initial
value theorem, the derivation theorem and the integration theorem.
1.2 Give the Laplace transform of the three basic signals (): impulse, unit step and exponential () =
1.3 Compute the Laplace transform of () = cos(ωt) (hint : express as the sum of two exponentials)
Exercise 2: basic exercises with the Laplace transform
A system with input () and output () (Laplace transforms () and ()) is known by a simple differential
equation:
()
+ () = ()
Initial condition: (0) = 0
2.1 What is the unit of a? For the following take = 2
()
2.3 Compute the transfer function () = ()
and create the transfer function F with Matlab
2.4 Compute the output () when the input is an impulse at = 0. Compare with the impulse response obtained
with Matlab (impulse)
2.5 Compute the output () when the input is unit step at = 0. Compare with the step response obtained with
Matlab (step)
Exercise 3: a bit more complicated with the Laplace transform
3.1 Compute the output () when the input () is an impulse for the following cases:
1 1 1 1 + 2
! () = (), $ () = (), ' () = (), ( () = (),
(1 + 2) (1 − 3) (1 + 10)(1 + ) (1 + 10)(1 + )
1 − 2
) () = ()
(1 + 10)
Hint: decompose the rational fractions as a sum of simple ones
3.2 Plot () using Matlab
3.3 Compute the output () when the input () is unit step for the following case:
1
! () = (),
1 + 2
Exercise 4: bloc-diagram manipulation
A system is described by a bloc diagram as in figure 1. This system as two inputs (reference *(), and perturbation
+()) and one output y().
* EZciSE 1 I
.
2
u(t) -> u(s)
-S
X
-
DELAY a(t -
[) - e u(s)
Sple asI- ts)
:
D
bin u() -him S .
UC
EU I u
t + 1
S + 0
Final valle
:
lim UH) =
1 = him s-H2S)
t1x S+ 0
EUT
↓
lin
+ Ot UlH=li
sus i samp - Ulot= lais U en
S + D
.
1 -bin
=
1
1 b 1t
=
5+
+
0
&
alot = 1
jump from
4 0 to 1
AUH
DER 7 .
.
= s .
u(s) -ULO
↳ Sufeneral -
steady State before stu
Cappels .
-> exp- 1 order
ExtUJE ! 2 - 2
I R
-E
ret
lis Es
e
1
=
.
[
s
-
E
s
-
at
2
=> ECISE 1 3 .
cos (rt) + isin int = eint-> 1 =
S + iw
-Stin -
S-iw 52 +w
<S iw)
-
(stinb
⑧
W
- Ti
-2 + W2 52+ W
-> zed order
ExExisE 2
a a +
y= art) - tr we can use & thanks to
lincanty .
2 1 .
. Seconds
2 5 .
.
trauster function
into
only gives
s[(s) Y (0)] en e
timtic
+Tot htt
a . -
+
y(s) =
u(S) -Son
↳ yis =
as andno
>
a
2 Y . .
ac= OCH >
-
yIt =s
↳ Uls=1 - 4151- Is u(s)
-415) =
#2s
if comfortelle
⑧
not -
-
al This ,
one las
always +22
compute ine inital y =
e C
value theoreve
↳ And bin S
.
k(s)
S-D
I
Es =
2-r ult= mit step -u(s) =
- 4(s) =
=
sz
stas -
#+
25) BS
O
1 A(1 + +
=
3s(5 !294151 8
-
1 =
A +
2as +
=
5+ -
ItIs
Perform ↓
latee
Step
sigual
Auginmerse y(t)
en e
exp
--
.
signal
= fr -
-2
Y 2) y(t Step e
yzt
= =
-
y(t) x
S
. . . .
R
-
42
-> slept
↓
e
y(t)
=
usueally - -
f
A
6840
15 =
2
&
I
E
->↑
I t
I
-2
-e
-
Gestep
EXERCISE 3
1 +
2S
① Yy(s=
(1 +
10s)(( +
s)
1 +
2S A B A
(1 +
s) +
13((F 10s)
= I -
(1 +
10s) (1+s) 1 +
10S 1+ S (1 +
10s)(1 s)
+
A
1870
1 + 25
=
+
As + B +
BIOS
y(04 2
=
↳ solre A 319
C
E
=
·
for
B =
Y +
s
+
B +
B10s y(x =
↳ 14
ta s
-
B)
E
S
=
C + 170s
y 11 =
1- 25
413 43
& Y5(s)
y(t 6132 0 2
-
-
= - = -
.
14 Os 17 S
(1 +
10s)(1 +
3)
↓ L
-10 y5161 0
=
Iet
-
↳ Y 52H =
1e -
38
ult =
Step
UCS = Ys
25
1
2(y5(t)
-
Y=(s)
=
-(( + 10s)(1 +
s)
but 2 (y5 (E)) ?
C
↳
knowing ((y51) 2 (y'51)
cau be
1- 25
& (yf(4) =
s -
predicted
tr 511 +
10s) (1 +
S)
Derition
Thecrem
-I
1 2S
[⑧
-
gitsess
-bein S ↳
S 11 +
(0))(ItS)
Fi Climit theorem)
↳ we're
intereted in this
4.1 Find ! (), $ (), ' (), and ( () such as:
() = ! (),() + $ -()
() = ' (),() + ( -()
1
+ 1 + 3
+
* 1 + 1 + 1
1+ 1 + 10
−
1 + 10
1 + 20
Figure 1
4.2 Is the system stable?
4.2 Plot () and () when the input *() is a unitary step. Idem when the perturbation +() is a unitary step. Find
the final value using Matlab and by formal calculation (final value theorem).
Exercise 5: final and initial value theorem
⑰Y
We want to analyze the time response () of a system to a unitary step impulse. The transfer function is:
1−
() =
(1 + 2)(1 + 10)
1. What is the final value of ()?
2. Analyze the time response near = 0
3. Plot the time response
A B
0
d
E 2
B C D
5
a
er
[
-
end
Start from the
y =
D(A-P +
c(BR -
=Y)
G have Y's the
left-hand sie
Rearrange all
to ou .
y =
D .
x
=
D( , +
r)
D(AP +
c - E)
= (AP +
c .
(f - ))
=>
D(Ap +
((B .
R -
EY))
