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As
k
y" y 0, where
, a general solution
m
is clearly : y (t ) c1 cos t c2 sin t . Which can
2
period
, and frequency
.
2
is known as the angular frequency.
b
1
2
One local
min
y (t ) c1e
bt / 2 m
c2te
bt / 2 m
. Again we see
Example
The motion of a mass-spring system with damping
is governed by
y" (t ) by ' (t ) 64 y (t ) 0 ;
y (0) 1 , and y ' (0) 0 .
This is exercise problem 4, p239.
Find the equation of motion and sketch its graph
for b = 10, 16, and 20.
7
Solution.
1. b = 10: we have m = 1, k = 64, and
b2 - 4mk = 100 - 4(64) = - 156, implies = (39)1/2 .
Thus the solution to the I.V.P. is
5
5t
y (t ) e (cos 39 t
sin 39 t )
39
8 5t
e sin( 39 t ) , where
39
c1
tan
c2
39
.
5
y (t ) (1 8t )e
8t
y
1
t
9
10
(*)
y yh y p , where
y p stands for a particular solution to (*), &
yh is a genernal solution of the associated
homogenenous equation of (*).
11
where:
y h (t ) Ae
(b / 2 m )t
sin
4mk b 2
t ,
2m
In fact, we have
2
F0 (k m )
F0b
B1
, B2
.
2 2
2 2
2 2
2 2 12
(k m ) b
(k m ) b
( b / 2 m ) t
4mk b
t , and
2m
sin
F0
(k m ) b
2 2
sin( t ).
13
14
Introduction
Consider the following interconnected fluid
tanks
B
A
X(t)
6 L/min
8 L/min
Y(t)
24 L
24 L
6 L/min
X(0)= a
2 L/min
Y(0)= b
15
dx 2
8
y (t ) x(t )
dt 24
24
and for tank B, we have
dy 8
2
6
x(t ) y (t ) y (t ).
dt 24
24
24
17
y" (t ) 3 y ' (t ) 2 y (t ) 0;
y (0) 1, y ' (0) 3
x1 (t ) y (t ) and x2 (t ) y '(t ),
19
and x2 (0) 3
x' (t ) 3 x(t ) 4 y (t ) 1,
y ' (t ) 4 x(t ) 7 y (t ) 10t.
21
22
(D - 3)[x] + 4y = 1, ..(*)
-4x + (D + 7)[y]= 10t .(**)
The expression 4(*) + (D - 3)(**) yields:
{16 + (D - 3)(D + 7)}[y] = 4+(D - 3)(10t), or
(D2 + 4D - 5)[y] =14 - 30t. This is just a 2nd
order nonhomogeneous equation.
The corresponding auxiliary equation is
r2 + 4r - 5 = 0, which has two solution r = -5,
and r = 1, thus yh = c1e -5t + c2 e t. And the
general solution is y = c1e -5t + c2 e t + 6t + 2.
23
To find x(t), we can use (**).
Generalization
Let L1, L2, L3, and L4 denote linear differential
operators with constant coefficients, they are
polynomials in D. We consider the 2x2 general
system of equations:
L1[ x ] L2 [ y ] f 1 ,
.........(1)
L3 [ x ] L4 [ y ] f 2
.........(2)
Since Li L j L j Li , we can solve the
above equations by first eliminating the
varible y. And solve it for x. Finally
solve for y.
25
Example:
x"(t ) y ' ( t ) x (t ) y ( t ) 1,
x ' (t ) y ' (t ) x (t ) t 2 .
28
ff
More precisely
Definition: Let f(t) be a function on [0, ).
The Laplace transform of f is the function
F defined by the integral
(*)
F ( s ) : e
0
st
f (t )dt.
Example
1. Consider f(t) = 1, for all t > 0. We have
F (s) e
0
st
(1)dt lim e st dt
N 0
st N
e
lim
N
s
1 eN t
lim
N s
s
1
s
0
this holds for all s 0. (Note on the domain
of F(s).) The Laplace Transform is an improper
integral.
31
Other examples,
2. Exponential function f(t) = e t .
3. Sine and Cosine functions say: f(t) = sin t,
4. Piecewise continuous (these are functions
with finite number of jump discontinuities).
t,
f (t ) 2,
(t - 2) 2 ,
0 t 1,
1 t 2,
2 t 3.
32
Example 4, P.375
A function is piecewise continuous on [0,
), if it is piecewise continuous on [0,N] for
any N > 0.
Determine the Laplace tranform of
2,
0 t 5,
f (t ) 0, 5 t 10,
e 4t , 10 t.
33
f (t ) Me , for all t T .
L{ f }( s ) e
0
st
f (t )dt .
L{e at f (t )}( s ) F ( s a ) .
Proof.
37
38
39
Derivatives of the
Laplace Transform
Theorem : Suppose f (t ) is piecewise continuous on [0, )
of exponential order . Let F(s) L{f}(s), then for s ,
we have
n
n
d
F
d
L{t n f(t)}(s) ( 1 )n n (s) ( 1 )n n ( L{ f }(s)).
ds
ds
Proof.
40
Some Examples.
1. e -2t sin 2t + e 3t t2.
2. t n.
3. t sin (bt).
41