=m

d
2
x
dt
2
+Kx +f
v
x = Ku +f
v
u
=m
d
2
x
dt
2
= Kx +Ku f
v
x +f
v
u















Car suspension model
Mass spring viscous damper system
Model
Force balance !
Free body diagram
F
K0
Mg
Free body diagram (no motion)
F
K0
Mg
force due to spring
in equilibrium
force because spring
changes length
during motion
force due to
viscous damping
System ODE :

m
d
2
x
= F
K
+F
v

(2
nd
order ordinary

dt
2
=m
d
2
x
= Kx+Ku f
v
x +f
v
u
F
K
= K(xu)
dt
2
linear differential

= f
v
( xu )
equation)
F
v
d
2
x
Equation of motion: =m +Kx+f
v
x =Ku+f
v
u
dt
2
1 2.004 System Dynamics and Control Spring 2013
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General Linear Time-Invariant (LTI) system
d
n
x d
n!1
x d
n
x dx d
m
y d
m!1
y d
1
y
a
n
La
1
+a
n!1
+b
m!1
dt
n
dt
n!1
+a
n!2
dt
n
dt
+a
0
x=b
m
dt
m
dt
m!1
+Lb
1
dt
1
+b
0
u
nth-order Linear Ordinary Differential Equation (ODE)
with constant coefficients (time-invariant)
general solution:
x(t) = x
homogeneous
(t) + x
forced
(t)
" homogeneous solution: y=0 (no forcing term)
" forced solution: a guess solution for the system behavior when y(t)!0
2 2.004 System Dynamics and Control Spring 2013
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Homogeneous and forced solutions
Homogeneous solution:
"
x(t ) =C
0
+C
1
e
s
1
t
+C
2
e
s
2
t
+L+C
n
e
s
n
t
where in general
s
i
=!
i
+ j" (complex number)
s
Im(s)
!
Re(s)
Forced solution: sometimes difficult to guess
but for specific forces of interest, quite easy.
For example, if y(t)=constant, then y
forced
=constant
as well (but a different constant!)
3 2.004 System Dynamics and Control Spring 2013
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Commonly used input functions
Step function Ramp
(aka Heaviside) function

0, t < 0;
0, t < 0;
ramp(t) =
t, t0.
step(t) =
1, t 0.
=tstep(t)
Impulse
Sinusoidal
(aka delta-function
function !(t)
or Dirac function)

0, t < 0;
f(t) =
sin(t), t 0.
= sin(t) step(t)
t [sec]
4 2.004 System Dynamics and Control Spring 2013
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1
st
order system
Mv +bv=f(t)
mass viscous force
damping
Impulse response:
equivalent to setting an initial condition v(t=0)
v(t=0)=v
0
t/
v(t) = v
0
e , t0
M
time constant =
b

Step response:
f(t) is the step function (or Heaviside function)

0, t < 0;
f(t) = F
0
step(t) =
F
0
, t 0.
F
0
v(t) =

1 e
t/

, t0
b
v(t=0)=0
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2.004 System Dynamics and Control Spring 2013 5
"
0. 368 e
1
one time constant




1
st
order system: step response
steady state
(final value)
0.6321e
1
Nise Figure 4.3
2.004 Fall 07 Lecture 06 Monday, Sept. 17
Figure John Wiley & Sons. All rights reserved. This content is excluded from our Creative
Commons license. For more information, see http://ocw.mit.edu/help/faq-fair-use/.

How is this different than the car suspension system?
02/07/2013
2.004 System Dynamics and Control Spring 2013 7
Figure John Wiley & Sons. All rights reserved. This content is excluded from our Creative
Commons license. For more information, see http://ocw.mit.edu/help/faq-fair-use/.

2
nd
order system: step response
02/07/2013
2.004 System Dynamics and Control Spring 2013 8



Mechanical system components:
translation
Nise Table 2.4
9 2.004 System Dynamics and Control Spring 2013
02/07/2013
Table John Wiley & Sons. All rights reserved. This content is excluded from our Creative
Commons license. For more information, see http://ocw.mit.edu/help/faq-fair-use/.
MIT OpenCourseWare
http://ocw.mit.edu
2.04A Systems and Controls
Spring 2013
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