Linear system

Lesson 2
Classification of the System
response

Linear system

System response: Output signals due to inputs and ICs.

1. The point of view of Mathematic:
Homogenous solution y h (t )

Particular solution y p (t )

2. The point of view of Engineer:

Natural response y n (t )

Forced response

y f (t )

3. The point of view of control engineer:

Zero-input response y zi (t )
Transient response

Zero-state response y zs (t )
Steady state response
2

Linear system

Example: solve the following O.D.E

d 2 y (t )
dy (t )
2t

3
y
(
t
)

e
, t 0,
2
dt
dt

y (0) 1,

dy (0)
1
dt

(1) Particular solution: [ y p (t )] u (t )

d 2 y p (t )
dt 2

dy p (t )
dt

3 y p (t ) e 2t

y p (t ) e 2t

let
then

y ' p (t ) 2e 2t

yp (t ) 4e 2t

4e 2t 4(2)e 2t 3e 2t e 2t 1

we have

y p (t ) e 2t
3

(2) Homogenous solution:

Linear system

[ yh (t )] 0

yh(t ) 4 yh (t ) 3 yh (t ) 0

yh (t ) Ae t Be 3t
y (t ) y p (t ) yh (t ) has to satisfy I.C.
y (0) 1
dy (0)
1
dt

y ( 0) 1 ,

dy (0)
1
dt

y h ( 0) y p ( 0) 1
yh (0) yp (0) 1

5 t 1 3t
yh (t ) e e
2
2
4

Linear system

(3) zero-input response: consider the original differential equation with no input.

y zi (t ) 4 y zi (t ) 3 y zi (t ) 0,

t0

y zi (0) 1,

y zi (0) 1

y zi (t ) K 1e t K 2 e 3t , t 0
y zi (0) K 1 K 2
y zi (0) K 1 3K 2

K1 2
K 2 1

y zi (t ) 2e t e 3t , t 0
zero-input response
5

Linear system

(4) zero-state response: consider the original differential equation but set all I.C.=0.
y zs (t ) 4 y zs (t ) 3 y zs (t ) e 2t ,

t0

y zi (0) 0 ,

y zi (0) 0

y zs (t ) C1e t C 2 e 3t e 2t

y zs (0) C1 C 2 1 0
y zs (0) C1 3C 2 2 0

1
2
1
C2
2
C1

1 t 1 3t
y zs (t ) e e e 2t
2
2
zero-state response
6

Linear system

(5) Laplace Method:

d 2 y (t )
dy (t )
2t

3
y
(
t
)

e
, t 0,
2
dt
dt

y (0) 1,

dy (0)
1
dt

1
s Y ( s ) sy (0) y (0) 4 sY ( s ) 4 y (0) 3Y ( s )
s2
2

1
1
5
s5

1
s

2
2
Y ( s) 2

2
s 3 s 2 s 1
s 4s 3
1 3t
5 t
2t
y (t ) [Y ( s )]
e e e
2
2
1

Linear system

Complex response
Zero state response
y zs (t )

1 t 1 3t
e e e 2t
2
2

Forced response
(Particular solution)
y p (t ) e 2t

Steady state response

y (t )

1 3t
5
e e 2 t e t
2
2

Zero input response

y zi (t ) 2e t e 3t , t 0

Natural response
(Homogeneous solution)
yh (t )

5 t 1 3t
e e
2
2

Transient response
1 3t
5 t
2t
y (t )
e e e
2
2