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Boyd EE102
Lecture 4
Natural response of first and second order
systems
4–1
First order systems
ay 0 + by = 0 (with a 6= 0)
can be expressed as
T y0 + y = 0 or y 0 + ry = 0
where
• T = a/b is a time (units: seconds)
• r = b/a = 1/T is a rate (units: 1/sec)
T y(0) y(0)
Y (s) = =
sT + 1 s + 1/T
simple RC circuit:
population dynamics:
• y(t) is population of some bacteria at time t
• growth (or decay if negative) rate is y 0 = by − dy where b is birth rate,
d is death rate
• y(t) = y(0)e(b−d)t (grows if b > d; decays if b < d)
ay 00 + by 0 + cy = 0
λ1 = λ2 = −b/(2a)
λ1 = σ + jω, λ2 = σ − jω,
which yields
λ1 α + β −λ2α − β
r1 = √ , r2 = √
2
b − 4ac b2 − 4ac
t=0
1F 1F y
y 00 + 3y 0 + y = 0
• initial conditions:
y(0) = 1, y 0(0) = 0
(at t = 0, voltage across righthand capacitor is one; current through
righthand resistor is zero)
0.8 0.9
0.6 0.8
y
y
0.4 0.7
0.2 0.6
placements PSfrag replacements
0 0.5
0 5 10 15 20 0 0.5 1 1.5 2
t t
r1 = α/a, r2 = (β + λα)/a
y
m
PSfrag replacements
k b
y 00 + 2y 0 + y = 0
• initial conditions
y(0) = 0, y 0(0) = 1
y(t) = te−t
0.4
0.35
0.3
0.25
y
0.2
0.15
0.1
PSfrag replacements
0.05
0
0 2 4 6 8 10
α αb − 2aβ
r1 = +j 2
, r2 = r 1
2a 4a ω
0.5
0
y
−0.5
PSfrag replacements
−1
0 1 2 3 4 5 6 7 8
t
(4.6/2π)(ω/|σ|) = 0.73(ω/|σ|)
y 00 + ω 2y = 0
LC circuit
• from i = Cv 0, v = −Li0 we get i
PSfrag replacements
v 00 + (1/LC)v = 0
L C v
√
• oscillation frequency is ω = 1/ LC
y
m
00
• my + ky = 0;
p
• oscillation frequency is ω =PSfrag
k/m replacements
k
• for complex roots, solutions have the form y(t) = Aeσt cos(ωt + φ)
for stability, we need
−σ = −<(λ) = b/(2a)
question: given a > 0 and c > 0, what value of b > 0 gives maximum
decay rate?
answer: √
b = 2 ac
p
which corresponds to equal roots, and decay rate c/a
√
• b = 2 ac is called critically damped (real, equal roots)
√
• b > 2 ac is called overdamped (real, distinct roots)
√
• b < 2 ac is called underdamped (complex roots)
justification:
p
• if the system is underdamped, the decay rate is worse than c/a
because p
b/(2a) < c/a,
√
if b < 2 ac
rewrite as q
√ ? √ √
b − 2 ac < (b − 2 ac)(b + 2 ac)
√
divide by b − 2 ac to get
p √
? b + 2 ac
1< p √
b − ac
which is true . . .
L R C v
1 0 1
v 00 + v + v=0
RC LC
R 0
00 1
v + v + v=0
L LC