Control Lect3

Control Engineering
Dynamics of Mechanical Systems

(Forced Response)
Prof. Ayman A. El-Badawy

Department of Mechatronics Engineering
Faculty of Engineering and Material Science
German University in Cairo

Harmonic excitation of damped systems
mxt cx t kxt F t F0 cos wt

xt 2w n x t wn2 xt f 0 t
General Solution : xt x p c1 x1 c2 x2
The most important input functions are : exponentials, harmonic,
or their combinatio n. These inputs are all special cases of et
where is complex number.
Displacement
x
k
F=F0coswt
M
c
1
Exponential-Input Theorem
In general : x Ax Bx f t et
D 2

AD B x f t
Substitution Rule : PD et P et where PD is polynomial of D
2

Proof : D AD B e D e ADe Bett 2 t t
Obviousely true for D and D 2 . Also true for PD

2 et Aet Bet checks
Exponential - input theorem :
e t
xp P 0
P
Proof : Is PD x p et ?
e t P et
P D e t
P P
Example
x x 2 x 10 sin t
Find Particular solution x p ?
Complexify it
D2 D 2 ~
x 10e it
~ 10e i t 10e i t 1 i cos t i sin t
xp 10
i 2 i 2 1 i 2

x p 5cos t sin t 5 2 cos t
x p Im ~
4
Can you get the total solution? Needs Initial conditions

2
In general

2w w
x p t cos wt tan 1 2 n 2
f0
w w
2
nn

w 2 w 2 2w w 2 n

X

F0
where f 0
M
Add homogeneous and particular to get total solution:
xt Ae w nt sin wd t X coswt

homogeneous or transient solution particular or
steady state solution
Note: as t gets large, transient dies out.

Things to notice about damped

forced response
If = 0, undamped equations result
Steady state solution prevails for large t
Often we ignore the transient term (how large is , how
long is t?)
Coefficients of transient terms (constants of
integration) are affected by the initial conditions AND
the forcing function
For underdamped systems at resonance the,
amplitude is finite.

3
Proceeding with ignoring the transient
f0
Magnitude: X
w 2
n
w 2 2w nw
2 2
w
Frequency ratio: tan 1 2r 1 r 2 r
wn
Non dimensional Xwn2 1

1 r 2r
Form:
f0 2 2 2
Phase: tan1 2r 1 r 2
Magnitude plot
Resonance is close
to r = 1
For = 0, r =1
defines resonance
As grows
resonance moves r
<1, and X decreases

4
Phase plot
tan1 2r 1 r 2
3.5
Resonance occurs at =0.01
= /2
3
=0.1
2.5 =0.3
The phase changes =0.5
Phase (rad)
more rapidly when 2 =1
the damping is small 1.5
From low to high 1

values of r the phase
0.5
always changes by
1800 or radians 0
0 0.5 1 1.5 2
r

Case P()=0
Now :
D 2

AD B x et complex
problem : P 0 then :
tet
xp
P
If is double root (both roots are )
t 2 e t
xp and so on
P

5
Example
y w n2 y cos wt
D 2

w n2 y cos wt complexify
D 2
w2 ~ n
y e iwt
~ e iwt e iwt
yp
iw 2 w n2
w n2 w 2
cos wt
y p Re~
yp 2
wn w 2
Suppose now w n w
Use exponential - shift rule :
D 2

w n2 y cos w n t complexify
D
grows withoutbound

2
y e iwnt ; iw n is a simple zero of D 2 w n2
w n2 ~ t
PD D 2 w n2 ; P D 2 D
2w n
teiwnt
5
~
yp
Displacement (x)
2iw n
t sinw n t
y p Re ~
yp 2w n
0
-5
0 5 10 15 20 25 30
Time (sec)
6
Introduction to Laplace Transform
A good way of thinking of where the Laplace Transform (LT) comes

from, and a way which I think dispels some of its mystery is by
thinking of power series.

a x n
n
A x
0
Ex.1 : an 1
1
1 x x 2 x3 , x 1 (Geometric series)
1 x
Proof :
1 x x 2 x3 S x
x x 2 x 3 Sx
________________________ subtract the 2 eqns.
1 S Sx S 1 x
A x S
1
provided that S exists
1 x
Continuous Analog
A x e x ,
1
Ex2 : an true for all values of x
n!
discrete function continuous fn.
Suppose we make summation continuous instead of discrete
n 0,1,2, 0 t

at x t dt Ax improper integral has a chance of convergenc e if

0
x 1 and it better be ve because if it is to be negative, can get into trouble of imaginary nos (Ex : 10.5 ).
0 x 1
x e ln x x t e ln x t
0 x 1 ln x 0
change of variables s ln x then s is ve and it is always convenient to work with ve nos.
f t e dt F s
st

7
Example 1 : f t 1; i.e. unit step function
t
F s 1e st dt e st

1
0
s t 0 f t
1 1 1 1 1
e s e so 0
s s s s
=0 =1
f t 1 F s f t p F s
1 p
s s
Constant

Exponential shift formula
If you know L f t then L e at f t ?

s a t
e
at
f t e st
dt f t e dt var. s replaced by var. s a
0 0
Le
f t F s a
at

Ex. L e at 1
1
sa

The formula also works when a is complex no.

L e a bit
1

s a bi
8
Example
f t cos wt F s ?
e iwt e iwt
cos wt
2
1 1 1 1 2s
Lcos wt
s

2 s iw s iw 2 s 2 w 2 s 2 w 2
w
Similarly : Lsin wt
s2 w 2

TABLE A.2

9
TABLE A.2 (continued)
Ax


10
Important properties/theorems:
Superposition:
1) LK f t K L f t K F s
Ex. f t 3e t

F s L 3e t 3 L e t 3
1

3
s s
2) L f1 t f 2 t L f1 t L f 2 t F1 s F2 s
Ex. f t 4 3e t F s
4 3

s s

Differentiation
df t
L sF s f 0 initial condition
dt

In General : L f m t s m F s s m 1 f 0 s m 2 f 0 f m 1 0
where f m t denotes the mth derivative of f t with respect to time
d 2
L 2 f t s 2 F s sf 0 f 0
dt
d 2it
Ex. 2

L
s 2 I s si0 i0
dt

11
Integration

t
F s
L f t dt

0

s
Ex. Capacitor:
1
vt
1
c idt L v t L idt
c
1 I s
1
L idt
c

c s

Initial Value Theorem:
lim f t lim sF s
t 0 s
Ex. What is the initial value of the system represented by T.F.
s 1
F s
s 2s
2
Initial value t 0 ; therefore, we look at
s2 s
lim sF s lim s
s s
2
2s

12
To find this limit, we can
a)Divide the numerator & denominator by s2

1 1 1 0
lim 1 2 s
s

1 0
1
s
Or b) Use LHopital
s rule:
f x f x
lim g x lim g x
x x
2s 1
lim
s 2s 2
still

, so we get another derivative.
2
lim 1
s 2
We should get the same answer either way

Final-Value theorem:
lim f t lim sF s
t s 0
Ex. What is the final value of the system
s 1
F s
s 2s
2
Lets look at;
s2 s 0
lim sF s
s 0 s 2 2s 0

13
To solve the indeterminate ratio ,we can
a)Divide numerator & denominator by s

s2 s

s 1 0 1
lim sF s 2s s 0.5
s 0 s 2s s 2 0 2

s s
OR, b) Use LHopital s rule:
2s 1 numerator
d
s2 s ds 0 1
lim 0.5
s 0 s 2 2s lim
s 0
2s 2 denomirator
d 0 2
ds
Again, we should get the same answer either way.

Inverse Laplace transformation:
L domain t domain.
Commonly shown as L1
We start with
s m bm 1s m 1 bo
F s
s n a n 1s n 1 ao
OR;
zeros
F s
s z1 s z 2 s z m
s p1 s p2 s pn
poles
14
and we use L1to find
xt : systemresponse
L1 Requires using partial - fraction Expansion( PFE) :
PFE : If we have
xs
s z1 s z2 s zm
s p1 s p2 s pn
then, it can be written as
xs
c1 c c
2 n
s p1 s p2 s pn

Where; c1 s p1 xs s p
1
c2 s p2 xs s p
2

cn s pn xs s p
n
Ex. 1: If the response of a system in Laplace domain is

s 1
xs ; xt ?
s s 2
s 1
xs
c c
1 2
s s 2 s s 2
0 1
c1 sxs s 0 0.5
02
2 1
c2 s 2xs s 2 0.5
2
15
xs
0.5 0.5

s s2
L1 L1 L1
xt 0.5 0.5e 2t
Example 2 : A system is defined by
T.F. F s
s 4
s 1s 2
Find the time response of the systemto a unit step input
output xs s 4
T.F.
input us s 1s 2
1
s

x s
s 4 c1 c2 c3
s s 1s 2 s s 1 s 2
04
c1 sxs s 0 2
0 10 2
1 4
c2 s 1xs s 1 3
1 1 2
24
c3 s 2 xs s 2 1
2 2 1
xs
2 3 1

s s 1 s 2
1
L
xt 2 3e t e 2t
16
2) Solving D.E.s by L
Let m = 1, k = 35, c = 12
xt ? if mass is displaced 1 to right and released.
x0 1 and x 0 0
Sys. Equ. : mxt cx t kx t F t
xt 12 x t 35 xt 0
L : Lxt xs
Lx t sxs x0 sxs 1
Lxt s 2 xs sx0 x 0 s 2 xs s
s 2 xs s 12sxs 1 35 xs 0
s 2

12 s 35 xs s 12
s 12 s 12
xs
s 12s 35 s 7 s 5
2
To find xt : PFE xs 1 2
c c
s7 s5
7 12
c1 s 7 xs s 7 2.5
75
5 12
c2 s 5xs s 5 3.5
57
2.5 3.5
xs L1
xt 2.5e 7 t 3.5e 5t
s7 s5

17
L1 when complex poles are present
Ex. xs
s 3 s3
s 2
2s 5 s 1 j 2s 1 j 2
*
c1 c1
PFE :
s 1 j 2 s 1 j 2
1 j2 3 2 j2
c1 s 1 j 2xs s 1 j 2
1 j 2 1 j 2 j4
2 j2 j 2 j2
0.5 j 0.5
j4 j 4
c1 complex conjugate of c1 0.5 j 0.5
*
0.5 j 0.5 0.5 j 0.5

xs
s 1 j2 s 1 j2
L1 : xt 0.5 j 0.5e 1 j 2 t 0.5 j 0.5e 1 j 2 t

0.5 j 0.5 e t .e j 2t 0.5 j 0.5 e t .e j 2t
Remember : e j cos j sin

xt 0.5 j 0.5e t cos 2t j sin 2t 0.5 j 0.5e t cos2t j sin 2t
xt e t cos 2t sin 2t

18
Example: Forced Response
y y e t y 0 1, y 0 0
s 2 y s s y s
1
s 1
s 1ys s 1 1 s s ss1 1 s 1 s 1s 1
2
2 2
;
s2 s 1 1 2
y s
c 34

s 12 s 1 s 12 s 1 s 1
put s 0 LHS RHS
1 3 1
1 c c
2 4 4
1 1 t 1 t 3 t
L te e e y p yc with the proper constants (built into the method)
2
4 4
yp yc
1 1
Note : t then te t
s2 s 12

19

Control Lect3

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Control Engineering

Dynamics of Mechanical Systems

Prof. Ayman A. El-Badawy

Prof. Ayman A. El-Badawy

Harmonic excitation of damped systems

mxt cx t kxt F t F0 cos wt

Obviousely true for D and D 2 . Also true for PD

Prof. Ayman A. El-Badawy

Note: as t gets large, transient dies out.

Prof. Ayman A. El-Badawy

Things to notice about damped

Prof. Ayman A. El-Badawy

Prof. Ayman A. El-Badawy

the damping is small 1.5

From low to high 1

Prof. Ayman A. El-Badawy

Prof. Ayman A. El-Badawy

A good way of thinking of where the Laplace Transform (LT) comes

at x t dt Ax improper integral has a chance of convergenc e if

Prof. Ayman A. El-Badawy

Prof. Ayman A. El-Badawy

Exponential shift formula

If you know L f t then L e at f t ?

Prof. Ayman A. El-Badawy

Prof. Ayman A. El-Badawy

Prof. Ayman A. El-Badawy

Prof. Ayman A. El-Badawy

Prof. Ayman A. El-Badawy

Prof. Ayman A. El-Badawy

Prof. Ayman A. El-Badawy

Initial Value Theorem:

Ex. What is the initial value of the system represented by T.F.

Initial value t 0 ; therefore, we look at

Prof. Ayman A. El-Badawy

a)Divide the numerator & denominator by s2

Prof. Ayman A. El-Badawy

Ex. What is the final value of the system

Lets look at;

Prof. Ayman A. El-Badawy

a)Divide numerator & denominator by s

Prof. Ayman A. El-Badawy

Inverse Laplace transformation:

Prof. Ayman A. El-Badawy

Ex. 1: If the response of a system in Laplace domain is

Example 2 : A system is defined by

Prof. Ayman A. El-Badawy

xt ? if mass is displaced 1 to right and released.

Prof. Ayman A. El-Badawy

0.5 j 0.5 0.5 j 0.5

Remember : e j cos j sin

Prof. Ayman A. El-Badawy

Prof. Ayman A. El-Badawy

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