System dynamics 3rd edition palm solutions manual

System Dynamics 3rd Edition Palm SOLUTIONS MANUAL
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Solutions Manual c
to accompany
System Dynamics, Third Edition
by
William J. Palm III
University of Rhode Island
Solutions to Problems in Chapter Two
c Solutions Manual Copyright 2014 The McGraw-Hill Companies. All rights
reserved. No part of this manual may be displayed, reproduced, or distributed
in any form or by any means without the written permission of the publisher
or used beyond the limited distribution to teachers or educators permitted by
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or translation of this work is unlawful.

2.1 a) Nonlinear because of the yy¨term. b) Nonlinear because of the sin y term. c)
Nonlinear because of the
√
y term. d) Variable coefficient, but Linear. e) Nonlinear because
of the sin y term. f) Variable coefficient, but linear.

−
2.2 a) Z x Z t
4 dx = 3
2 0
3
t dt
2x(t) = 2 +
8
t
b) Z x Z t
5 dx = 2
3 0
e−4t
dt
c) Let v = x˙.
x(t) = 3.1 − 0.1e−4t
Z v Z t
3 dv = 5
7 0
t dt
v(t) =
dx
= 7 +
5
t2
Z x
dx =
2
dt
Z t
7 +
0
6
5
t2
dt
6
d) Let v = x˙.
5 3
x(t) = 2 + 7t +
18
t
Z v Z t
4 dv = 7
2 0
e−2t
dt
23 7 2t
v(t) =
8
−
8
e−
Z x
dx =
Z t 23 7
e−2t
dt
4 0 8 8
57 23 7 2t
x(t) =
16
+
8
t +
16
e−
e) x˙ = C1, but x¨(0) = 5, so C1 = 5. x = 5t + C2, but x(0) = 2, so C2 = 2. Thus
x = 5t + 2.

h(5
3
5
− ln(x + 5) − −
=
2.3 a) Z x dx
=
Z
t
dt = t
3
√ "
25 − 5x2
0
√ !
3
√
5
!#Z x dx
=5 arctanh 5x arctanh = t
Let
3 25 − 5x2 25 5
−
5
Solve for x to obtain
C = arctanh
3
√
5
!
5
x =
√
5 tan
√
b)
5t + C)
Z x dx
=
Z
t
dt = t
10 36 + 4x2
1
0
x x
tan−1
= t
12 10
x(t) = 3 tan(12t + C) C = tan−1 10
3
c) Z x x dx
Z
t
dt
4
x x
5x + 25 0
x 4
= ln(x + 5) + ln 9 = t
4 5 5
x − 5 ln(x + 5) = 5t + 4 − 5 ln 9
So a closed form solution does not exist.
(continued on the next page)

t
−
Problem 2.3 continued:
d) Z x dx
= 2
Z
e−4t
dt
5 x 0
x 1 4t
ln x|5 =
2
e−
− 1
ln
x
=
1
e−4t
1
5 2
5
−
1
e−4t
x(t) = √
e
e2

|0
−s
−s
0
0
0
2.4 From the transform definition, we have
"Z T
# "Z T
#
L[mt] = lim
T→∞
mte−st
dt
0
= m lim
T→∞
te−st
dt
0
The method of integration by parts states that
Z T Z T
u dv = uv T
−
0 0
v du
Choosing u = t and dv = e−stdt, we have du = dt, v = −e−st/s, and
L[mt] = m lim
"Z T
#
te−st
dt = m lim

e−st T
t
Z T e−st
−

dt
T→∞ 0 T→∞ 0 −s
= m lim

e−st T
t −
e−st T

= m lim
"
Te−sT
− 0 −
e−sT
+
e0
#
T→∞ (−s)2 T→∞ −s
=
m
s2
(−s)2 (−s)2
because, if we choose the real part of s to be positive, then
lim
T→∞
Te−sT
= 0

|0
−s

e e
t
2.5 From the transform definition, we have
L[t2
] = lim
T→∞
"Z T
0
#
t2
e−st
dt
The method of integration by parts states that
Z T Z T
u dv = uv T
−
0 0
v du
Choosing u = t2 and dv = e−stdt, we have du = 2t dt, v = −e−st/s, and
"Z T
# 
e−st T Z T e−st

L[t2
] = lim
T→∞
t2
e−st
dt
0
= lim
T→∞
2 −
0 0
2t dt
−s
= lim
"
−st
−T2
+
2
Z T
#
te−st
dt = lim
"
−st
#
−T2
+
2 1
T→∞ s s 0 T→∞ s s s2
2
=
s3
because, if we choose the real part of s to be positive, then,
lim
T→∞
T2
e−sT
= 0

5s
2.6 a)
b)
X (s) =
10 2
+
s s3
6 1
c) From Property 8,
X (s) =
(s + 5)2 +
s + 3
dY (s)
where y(t) = e−3t sin 5t. Thus
X (s) = −
ds
5 5
Y (s) =
(s + 3)2 + 52 =
s2 + 6s + 34
Thus
dY (s)
=
ds
10s + 30
−
(s2 + 6s + 34)2
10s + 30
X (s) =
(s2 + 6s + 34)2
d) X (s) = e−5sG(s), where g(t) = t. Thus G(s) = 1/s2 and
X(s) =
e−
s2

2.7
Thus
f(t) = 5us (t) − 7us (t − 6) + 2us (t − 14)
F (s) =
5
s
− 7
e−6s
s
e−14s
+ 2
s

2.8 a)
b)
c)
d)
2 sin 3t
5
4 cos 2t +
2
sin 2t
2e−2t
sin 3t
5
3
−
e)
5 e−3 t
5 e−3 t
3
5 e−7 t
2
−
2
f)
e−3 t
2
3 e−7 t
+
2

3
2.9 a)
b)
c)
d)
5 cos(3 t)
e3 t
− e−3 t
5 − 15 t e−3 t
− 5 e−3 t
2 2 e−2 t cos 3t + 2 sin 3 t
13
−
e)
f)
13
5 − 5 cos 2t
5 t sin 2t

∞
∞
2.10 a)
x(0+) = lim s
s→∞
5 5
=
3s + 7 3
5
x( ) = lim s
s→0
b)
x(0+) = lim s
= 0
3s + 7
10
= 0
s→∞
x( ) = lim ss→0
3s2 + 7s + 4
10
= 0
3s2 + 7s + 4

2.11 a)
3 1 1
X (s) =
2 s
−
s + 4
x(t) =
3
2
b)
5 1
1 − e−
31
4t
1
X (s) =
3 s
+
3
5 31
s + 3
3t
x(t) =
3
+
c)
3
e−
1 1 13 1
X (s) = −
3 s + 2
+
3 s + 5
1 2t
x(t) = −
3
e−
+
d)
13 5t
3
e−
X (s) =
5/2 5 1 5 1 5 1
= − +
s2 (s + 4)
5
8 s2
5
32 s
5
4t
32 s + 4
x(t) =
8
t −
32
+
32
e−

−
e)
2 1 13 1 13 1
X (s) =
5 s2 +
25 s
−
25 s + 5
2 13 13 5t
x(t) =
5
t +
25
−
25
e−
f)
31 1 79 1 79 1
X (s) = −
4
+
(s + 3)2 16 s + 3 16 s + 7
31 3t
x(t) = −
4
te− 79
+ e−3t
16
79 7t
−
16
e−

2.12 a)
7s + 2 5 s + 3
X (s) =
(s + 3)2 + 52 = C1
(s + 3)2 + 52 + C2
(s + 3)2 + 52
or
19 5 s + 3
X (s) = −
5
+ 7
(s + 3)2 + 52 (s + 3)2 + 52
19 3t
x(t) = −
5
e−
b)
sin 5t + 7e−3t
cos 5t
X (s) =
or
4s + 3
s[(s + 3)2 + 52]
=
C1
s
+ C2
5
(s + 3)2 + 52
+ C3
s + 3
(s + 3)2 + 52
3 1 127 5 3 s + 3
X (s) =
34 s
+
170 (s + 3)2 + 52 −
34 (s + 3)2 + 52
3 127 3t 3 3t
x(t) =
34
+
170
e−
sin 5t −
34
e−
cos 5t

c)
4s + 9
X (s) =
[(s + 3)2 + 52][(s + 2)2 + 42]
5 s + 3 4 s + 2
= C1
(s + 3)2 + 52 + C2
(s + 3)2 + 52 + C3
(s + 2)2 + 42 + C4
(s + 2)2 + 42
or
44 5 19 s + 3
X (s) = −
205 (s + 3)2 + 52 −
82 (s + 3)2 + 52
69 4
+ +
19 s + 2
328 (s + 2)2 + 42 82 (s + 2)2 + 42
44 3t
x(t) = −
205
e−
d)
19 3t
sin 5t −
82
e−
1
69 2t
cos 5t +
328
e−
1
19 2t
sin 4t +
82
e−
1
cos 4t
X (s) = 2.625
s + 2
− 18.75
s + 4
+ 21.125
s + 6
x(t) = 2.625e−2t
− 18.75e−4t
+ 21.125e−6t

3
2.13 a) x˙ = 7t/5 Z x
dx =
7
Z t
t dt
3 5 0
7 2
b) x˙ = 3e−5t/4
x(t) =
10
t + 3
Z x
dx =
3
Z t
e−5t
dt
4 4 0
3 5t
c) x¨= 4t/7
x(t) =
20
1 − e−
+ 4
4
Z t
x˙(t) − x˙(0) =
7
t dt
0
4 2
x˙(t) =
14
t + 5
Z x Z t 4
dx =
3 0 14
4 3
t2
+ 5 dt
d) x¨= 8e−4t/3
x(t) =
42
t + 5t + 3
8
Z t
x˙(t) − x˙(0) =
0
e−4t
dt
17 8 4t
x˙(t) =
3
−
12
e−
Z x
dx =
Z t 17
−
8
e−4t
dt
3 0 3 12
17 1 4t 17
x(t) =
3
t +
6
e−
+
6

2.14 a) The root is −7/5 and the form is x(t) = Ce−7t/5. With x(0) = 4, C = 4 and
x(t) = 4e−7t/5
b) The root is −7/5 and the form is x(t) = C1e−7t/5
+ C2. At steady state, x = 15/7 =
C2. With x(0) = 0, C1 = −15/7. Thus
x(t) =
15
7
1 − e−7t/5
c) The root is −7/5 and the form is x(t) = C1e−7t/5 + C2. At steady state, x = 15/7 =
C2. With x(0) = 4, C1 = 13/7. Thus
x(t) =
d)
13
7
1 + e−7t/5
4
sX (s) − x(0) + 7X (s) =
s2
X (s) =
5s2 + 4
s2 (s + 7)
4
=
7s2
4
−
49
249
+
49
e−7t
4 4 249 7t
x(t) =
7
t −
49
+
49
e−

2.15 a) The roots are −7 and −3. The form is
x(t) = C1e−7t
+ C2e−3t
Evaluating C1 and C2 for the initial conditions gives
9 7tx(t) = −
4
e−
+
b) The roots are −7 and −7. The form is
25 3t
4
e−
x(t) = C1e−7t
+ C2te−7t
x(t) = e−7t
+ 10te−7t
c) The roots are −7 ± 3j. The form is
x(t) = C1e−7t
sin 3t + C2e−7t
cos 3t
x(t) =
20 7t
3
e−
sin 3t + 4e−7t
cos 3t

− 3t
2.16 a)
b)
x = 6 e−2 t
− 3 e−5 t
+ 2
18 e−2 t 76 t e−2 t 7
x = + +
5 5 5
c)
x = 3 sin 4t − 4 cos 4t + 9
d)
x = 3 cos 5t e−3 t
+
16 sin 5t e
+
2
5

2.17 a) The roots are −3 and −7. The form is
x(t) = C1e−3t
+ C2e−7t
+ C3
At steady state, x = 5/63 so C3 = 5/63. Evaluating C1 and C2 for the initial conditions
gives
5 3t 5 −7t 5
x(t) = −
36
e−
+
84
e +
63
b) The roots are −7 and −7. The form is
x(t) = C1e−7t
+ C2te−7t
+ C3
At steady state, x = 98/49 = 2 so C3 = 2. Evaluating C1 and C2 for the initial conditions
gives
x(t) = −2e−7t
− 14te−7t
+ 2
c) The roots are −7 ± 3j. The form is
x(t) = C1e−7t
sin 3t + C2e−7t
cos 3t + C3
At steady state, x = 174/58 = 3 so C3 = 3. Evaluating C1 and C2 for the initial conditions
gives
x(t) = −7e−7t
sin 3t − 3e−7t
cos 3t + 3

2.18 a)
X (s) =
60
s2 + 8s + 12
x = 15 e−2t
− 15e−6t
b)
288
X (s) =
s2 + 12s + 144
√ √
x = 16 3e−6t
sin 6 3t
c)
X (s) =
147
s2 + 49
x = 21 sin 7t
d)
170
X (s) =
s2 + 14s + 85
85 e−7t
sin 6t
x =
3

−
2.19 a)
6 6 6 1
= −
s(s + 5) 5s
6
5 s + 5
5tx(t) =
5
b)
1 − e−
4 4 1 4 1
= −
s + 3)(s + 8)
4
5 s + 3
3t
5 s + 8
−8tx(t) =
5
e−
− e
c)
8s + 5
=
1 8s + 5
=
27 1 43 1
2s2 + 20s + 48 2 (s + 4)(s + 6)
+
4 s + 4 4 s + 6
27 4t
x(t) = −
4
e−
+
d) The roots are s = −4 ± 10j.
43 6t
4
e−
4s + 13
+
4s +
13
10
= C
s + 4
s2 + 8s + 116 (s + 4)2 + 102 1
(s + 4)2 + 102
+ C2
(s + 4)2 + 102
3 10 s + 4
= −
10 (s + 4)2 + 102 + 4
(s + 4)2 + 102
3 4t
x(t) = −
10
e−
sin 10t+ 4e−4t
cos 10t

−
−
2.20 a)
3s + 2
=1 1
7
1
+
7 1
s2 (s + 10) 5 s2 25 s
−
25 s + 10
1 7 10t
x(t) =
5
t +
25
b)
1 − e−
5 15 1
= −
5 1 5 1
− +
(s + 4)2(s + 1) 9 (s + 4)2 9 s + 4 9 s + 1
15 4t
x(t) = −
9
te−
c)
5 4t−
9
e− 5
+ e−t
9
s2
+ 3s + 5 5 1
=
1 1 3 1 3 1
+ + −
s3 (s + 2) 2 s3 4 s2 8 s 8 s + 2
5 2 1 3 3 2t
x(t) =
4
t
d)
+ t + e−
4 8 8
s3
+ s + 6 1
= 3
1 1 1
− +
1 1 1 1
+ −
s4 (s + 2) s4 s3
1 3 1 2
2 s2 4 s
1 1 1
4 s + 2
2t
x(t) =
2
t −
2
t + t + e−
2 4 4

−
2.21 a)
10 2
5[sX (s) − 2] + 3X (s) = +
s s3
10s3 + 10s2 + 2 2s3 + 2s2 + 2/5 2 1 10 1 140 1 86 1
X (s) = =
5s3 (s + 3)
=
s3 (s + 3/5) 3 s3 +
9 s2 9 s
−
27 s + 3/5
1 2 10 140 86 3t/5
x(t) =
3
t
b)
−
9
t +
27
−
27
e−
6 1
4[sX (s) − 5] + 7X (s) =
(s + 5)2 +
s + 3
1 20s3 + 261s2 + 1116s + 1543
X (s) =
4 (s + 5)2(s + 7/4)(s + 3)
1 24 1
= −
96 1
−
18056 1 4 1
+ −
4 13 (s + 5)2 169 s + 5 845 s + 7/4 5 s + 3
6 5t
24
5t 4514 7t/4 1 −3t
x(t) = −
13
te−
−
169
e−
+
845
e−
−
5
e

c) This simple-looking problem actually requires quite a lot of algebra to find the solu-
tion, and thus it serves as a good motivating example of the convenience of using MATLAB.
The algebraic complexity is due to a pair of repeated complex roots.
First obtain the transform of the forcing function. Let f(t) = te−3t sin 5t. From Prop-
erty 8,
where y(t) = e−3t sin 5t. Thus
F (s) = −
5
dY (s)
ds
5
Y (s) =
(s + 3)2 + 52 =
s2 + 6s + 34
Thus
dY (s)
=
ds
10s + 30
−
(s2 + 6s + 34)2
10s + 30
F (s) =
(s2 + 6s + 34)2 (1)

Using the same technique, we find that the transform of te−3t cos 5t is
2s2 + 12s + 18 1
(s2 + 6s + 34)2 −
s2 + 6s + 34
(2)
This fact will be useful in finding the forced response.
From the differential equation,
4[s2
X (s) − 10s + 2] + 3X (s) = F (s) =
10s + 30
(s2 + 6s + 34)2
Solve for X (s).
40s −
8
10s + 30
X (s) =
4s2 + 3
+
[(s + 3)2 + 25]2(4s2 + 3)
The free response is given by the first fraction, and is
4
xfree(t) = −√
3
sin
√
3
2
t + 10 cos
√
3
2
t = −2.3094 sin 0.866t + 10 cos 0.866t (3)
The forced response is given by the second fraction, which can be expressed as
2.5s + 7.5
[(s + 3)2 + 25]2(s2 + 3/4)
(4)

The roots of this are s = ±j
√
3/2 and the repeated pair s = −3 ± 5j. Thus, referring
to (1), (2), and (3), we see that the form of the forced response will be
xforced(t) = C1te−3t
sin 5t + C2te−3t
cos 5t
+ C3e−3t
sin 5t + C4e−3t
cos 5t
+ C5 sin
√
3
2
t + C6 cos
√
3
2
t (5)
The forced response can be obtained several ways. 1) You can substitute the form (5)
into the differential equation and use the initial conditions to obtain equations for the Ci
coefficients. 2) You can use (1) and (2) to create a partial fraction expansion of (4) in terms
of the complex factors. 3) You can perform an expansion in terms of the six roots, of the
form
A1
+
A2
+
A3
+
A4
(s + 3 + 5j)2 s + 3 + 5j
√
3A5
/2
+ +
s2 + 3/4
(s + 3 − 5j)2
A6s
s2 + 3/4
s + 3 − 5j
4) You can use the MATLAB residue function.
The solution for the forced response is
xforced(t) = −0.0034te−3t
sin 5t + 0.0066te−3t
cos 5t
− 0.0026e−3t
sin 5t + 2.308 ×10−4
e−3t
cos 5t
+ 0.00796 sin 0.866t − 2.308 ×10−4
cos 0.866t
The initial condition x˙(0) = 0 is not exactly satisfied by this expression because of the
limited number of digits used to display it.

−
2.22 The denominator roots are s = −3 and s = −5, which are distinct. Factor the
denominator so that the highest coefficients of s in each factor are unity:
7s + 4 1 7s + 4
X (s) =
2s2 + 16s + 30
=
2
The partial-fraction expansion has the form
(s + 3)(s + 5)
1 7s + 4
=C1
C2
X (s) =
2 (s + 3)(s + 5)
+
s + 3 s + 5
Using the coefficient formula, we obtain
C1 = lim
s→−3
(s + 3)
7s + 4
2(s + 3)(s + 5)
= lim
s→−3
7s + 4
=
17
2(s + 5) 4
C2 = lim
s→−5
(s + 5)
7s + 4
2(s + 3)(s + 5)
= lims→−5
7s + 4
=
31
2(s + 3) 4

4
Using the LCD method we have
1 7s + 4
=
C1
+
C2
=
C1(s + 5) + C2(s + 3)
2 (s + 3)(s + 5) s + 3 s + 5 (s + 3)(s + 5)
=
(C1 + C2)s + 5C1 +
3C2
(s + 3)(s + 5)
Comparing numerators, we see that C1 + C2 = 7/2 and 5C1 + 3C2 = 4/2 = 2, which give
C1 = −17/4 and C2 = 31/4.
The inverse transform is
17
x(t) = C1e−3t
+ C2e−5t
= − e−3t
+
31
e−5t
4
In this example the LCD method requires more algebra, including the solution of two
equations for the two unknowns C1 and C2.

2.23 a) The roots are −3 and −5. The form of the free response is
x(t) = A1e−3t
+ A2e−5t
Evaluating this with the given initial conditions gives
x(t) = 27e−3t
− 17e−5t
The steady-state solution is xss = 30/15 = 2. Thus the form of the forced response is
x(t) = 2 + B1 e−3t
+ B2 e−5t
Evaluating this with zero initial conditions gives
x(t) = 2 − 5e−3t
+ 3e−5t
The total response is the sum of the free and the forced response. It is
x(t) = 2 + 22e−3t
− 14e−5t
The transient response consists of the two exponential terms.

b) The roots are −5 and −5. The form of the free response is
x(t) = A1e−5t
+ A2te−5t
x(t) = e−5t
+ 9te−5t
The steady-state solution is xss = 75/25 = 3. Thus the form of the forced response is
x(t) = 3 + B1 e−5t
+ B2 te−5t
Evaluating this with zero initial conditions gives
x(t) = 3 − 3e−5t
− 15te−5t
x(t) = 3 − 2e−5t
− 6te−5t

c) The roots are ±5j. The form of the free response is
x(t) = A1 sin 5t + A2 cos 5t
4
x(t) =
5
sin 5t + 10 cos 5t
The form of the forced response is
x(t) = B1 + B2 sin 5t + B3 cos 5t
Thus the entire forced response is the steady-state forced response. There is no transient
forced response. Evaluating this function with zero initial conditions shows that B2 = 0
and B3 = −B1. Thus
x(t) = B1 − B1 cos 5t
Substituting this into the differential equation shows that B1 = 4 and the forced response
is
x(t) = 4 − 4 cos 5t
4
x(t) = 4 + 6 cos 5t +
5
sin 5t
The entire response is the steady-state response. There is no transient response.

d) The roots are −4 ± 7j. The form of the free response is
x(t) = A1e−4t
sin 7t + A2e−4t
cos 7t
x(t) =
44 4t
7
e−
sin 7t + 10e−4t
cos 7t
The form of the forced response is
x(t) = B1 + B2 e−4t
sin 7t + B3 e−4t
cos 7t
The steady-state solution is xss = 130/65 = 2. Thus B1 = 2. Evaluating this function with
zero initial conditions shows that B2 = −8/7 and B3 = −2. Thus the forced response is
8 4t
x(t) = 2 −
7
e−
sin 7t − 2e−4t
cos 7t
x(t) = 2 +
36 4t
7
e−
sin 7t + 8e−4t
cos 7t

2.24 a) The root is s = 5/3, which is positive. So the model is unstable.
b) The roots are s = 5 and −2, one of which is positive. So the model is unstable.
c) The roots are s = 3 ± 5j, whose real part is positive. So the model is unstable.
d) The root is s = 0, so the model is neutrally stable.
e) The roots are s = ±2j, whose real part is zero. So the model is neutrally stable.
f) The roots are s = 0 and −5, one of which is zero and the other is negative. So the
model is neutrally stable.

c 2010 McGraw-Hill. This work is only for non-profit use by instructors in courses for which
the textbook has been adopted. Any other use without publisher’s consent is unlawful.
2.25 a) The system is stable if both of its roots are real and negative or if the roots are
complex with negative real parts. Assuming that m = 0, we can divide the characteristic
equation by m to obtain
s2
+
c
s +
k
= s2
+ as + b = 0
m m
where a = c/m and b = k/m. The roots are given by the quadratic formula:
√
2
s =
a ± a −
4b
2

Thus the condition that m, c, and k have the same sign is equivalent to a > 0 and b > 0.
There are three cases to be considered:
1. Complex roots (a2 − 4b < 0). In this case the real part of both roots is −a/2 and is
negative if a > 0.
2. Repeated, real roots (a2 − 4b = 0). In this case both roots are −a/2 and are negative
if a > 0.
3. Distinct, real roots (a2 − 4b > 0). Let the two roots be denoted r1 and r2. We can
factor the characteristic equation as s2 + as + b = (s − r1)(s − r2) = 0. Expanding
this gives
(s − r1)(s − r2) = s2
− (r1 + r2)s + r1r2 = 0
Comparing the two forms shows that
r1r2 = b (1) and r1 + r1 = −a (2)
If b > 0, condition (1) shows that both roots have the same sign. If a < 0, condition
(2) shows that the roots must be negative. Therefore, if the roots are distinct and
real, the roots will be negative if a > 0 and b > 0.
b) Neutral stability occurs if either 1) both roots are imaginary or 2) one root is zero√
while the other root is negative. Imaginary roots occur when a = 0 (the roots are s = ± b)
In this case the free response is a constant-amplitude oscillation. Case 2 occurs when b = 0
and a > 0 (the roots are s = 0 and s = −a). In this case the free response decays to a
non-zero constant.

2.26 a) τ = 5
b) τ = 4
c) τ = 3
d) The roots is s = 3/8, so the model is unstable, so no time constant is defined.

2.27 a) The root is s = −4/13, so the model is stable, and xss = 16/4 = 4. Since τ = 13/4,
it takes about 4τ = 13 to reach steady state.
b) The root is s = −4/13, so the model is stable, and xss = 16/4 = 4. Since τ = 13/4,
it takes about 4τ = 13 to reach steady state.
c) The root is s = 7/15, so the model is unstable, and no steady state exists.

2.28 1)
X (s) =
s +
1
5 1 s + 1 5 C1 C2
= = +
C1 = 5, C2 = −15/4, so
4s + 1 s 4 s + 1/4 s
15
s
t/4
s + 1/4
x(t) = 5 −
2)
4
e−
1 5 1 1
5
C1 C2
C1 = 5, C2 = −5, so
X (s) =
4s + 1 s
=
4 s + 1/4 s
=
x(t) = 5 − 5e−t/4
+
s s + 1/4

2.29
3[sX (s) − 4] + X (s) = 6
6
X (s) =
s + 1/3
x(t) = 6e−t/3

2.30 a)
4
√
10
r
40 √
ζ =
2
√
40
=
10
ωn = = 2 10
1
so τ = 1/2 and ωd = 6.
b)
s = −2 ± 6j
s = 1 ± 4.7958j
So the model is oscillatory but unstable, and thus ζ and τ are not defined.
r
24 √
ωn =
c)
1
= 2 6 ωd = 4.7958
20
ζ = √ = 1
2 100
s = −10, −10
so τ = 1/10. Since the roots are real, the response is not oscillatory, and ωn and ωd have
no meaning.
d) The root is s = −10, so τ = 1/10. Since the model is first order, ζ, ωn and ωd have
no meaning.

2.31 a) The roots are
p
2 2
s =
−10d ± 100d − 4(29)d
=
( 5
2j) d
2
− ±
So if d > 0, the real part is negative, and the system is stable.
b)
10d
ζ = √ =
10
√ < 1
2 29d2 2 29
So the free response is always oscillatory.

2.32 a)
X (s)
=
15
The root is s = −7/5.
b)
F (s) 5s + 7
X (s)
=
5
F (s)
The roots are s = −7 and s = −3.
c)
3s2 + 30s + 63
X (s)
=
4
d)
F (s) s2 + 10s + 21
X (s)
=
7
e)
F (s) s2 + 14s + 49
X (s)
=
6s + 4
The roots are s = −7 ± 3j.
f)
F (s) s2 + 14s + 58
X (s)
=
4s +
15
The root is s = −7/5.
F (s) 5s + 7

2.33 Transform each equation using zero initial conditions.
3sX (s) = Y (s)
sY (s) = F (s) − 3Y (s) − 15X (s)
Solve for X (s)/F(s) and Y (s)/F(s).
X (s)
=
1
F (s) 3s2 + 9s + 15
Y (s)
=
3s
F (s) 3s2 + 9s + 15

2.34 Transform each equation using zero initial conditions.
sX (s) = −2X(s) + 5Y (s)
sY (s) = F (s) − 6Y (s) − 4X (s)
Solve for X (s)/F(s) and Y (s)/F(s).
X (s)
=
5
F (s) s2 + 8s + 32
Y (s)
=
s + 2
F (s) s2 + 8s + 32

√
3
2.35 a) Transform both equations to obtain 4sX (s) = Y (s) and s(Y (s) = F (s) − 3Y (s) −
12X (s). Eliminate X (s) to obtain
Y (s)
=
s
F (s) s2 + 3s + 3
Use Y (s) = 4sX (s) to eliminate Y (s).
Y (s)
=
1 1
F (s) 4 s2 + 3s + 3
b) The roots are
Thus
s =
−3 ± 3
2
2 3
√
3
τ =
3
ζ =
2
√
3
=
2
√
ωn =
√
3 ωd =
2
c) The response oscillates with a frequency of ωd =
√
3/2 and essentially disappears for
t > 4τ = 8/3.
d) With F (s) = 1/s,
1 1 1 1
X (s) =
4 s(s2 + 3s + 3)
=
4 s[(s + 3
)2 + 3
]2 4
or √
C1(s + 3 ) + C2
3
C3
X (s) = 2 2
+
(s + 3
)2 + 3 s2 4
√
where C1 = −C3 = −1/12 and C2 = − 3/12. Thus
x(t) = e−3t/2 1
−
12
cos
√
3
√
3
2
t −
12
sin
√
3
!
1
2
t +
12

2.36 a) Transform both equations to obtain
4sX (s) = −4X(s) + 2Y (s) + F (s)
sY (s) = −9Y (s) − 5X (s) + G(s)
These can be solved using Cramer’s rule to obtan
X (s)
=
s + 9
F (s) 4s2 + 40s + 46
X (s)
=
2
G(s) 4s2 + 40s + 46
b) The roots are s = −1.3258 and s = −8.6742. The time constants are τ = 0.7543 and
τ = 0.1153. The response does not oscillate.
c) The free response is governed by the dominant time constant, which is τ = 0.7543.
The response is essentially zero for t > 4τ = 3.0172.

2.37 a)
7[sX (s) − 3] + 5X (s) = 4
25 25/7
X (s) =
7s + 5
=
s + 5/7
x(t) =
25
7
e−5t/7
Note that this gives x(0+) = 25/7. From the initial value theorem
x(0+) = lim s
s→∞
25/7
=
25
s + 5/7 7
which is not the same as x(0−).
b)
(3s2
+ 30s + 63)X (s) = 5
5 5/3 5 1 5 1
X (s) =
3s2 + 30s + 63
=
s2 + 10s + 21
=
12 s + 3
−
12 s + 7
From the initial value theorem
5
x(t) =
12
e−3t
− e−7t
5/3
x(0+) = lim ss→∞
= 0
s2 + 10s + 21
which is the same as x(0−). Also
x˙(0+) = lim s2 5/3
=
5
which is not the same as x˙(0−).
s→∞ s2 + 10s + 21 3

c)
s2
X (s) − 2s − 3 + 14[sX (s) − 2] + 49X (s) = 3
X (s) =
2s + 34
s2 + 14s + 49
= 20
1
(s + 7)2
1
+ 2
s + 7
x(t) = 20te−7t
+ 2e−7t
2s + 35
x(0+) = lim ss→∞
= 2
s2 + 14s + 49
which is the same as x(0−). However, the initial value theorem is invalid for computing
x˙(0+) and gives an undefined result because the orders of the numerator and denominator
of sX (s) are equal.
d)
s2
X (s) − 4s − 7 + 14[sX (s) − 4] + 58X (s) = 4
X (s) =
4s + 67
s2 + 14s + 58
=
4s + 67
(s + 7)2 + 32
= 13
3
(s + 7)2 + 32
+ 4
s + 7
(s + 7)2 + 32
x(t) = 13e−7t
sin 3t + 4e−7t
cos 3t
x(0+) = lim s
s→∞
4s + 67
= 4
s2 + 14s + 58
x˙(0+) and gives an undefined result because the order of the numerator of sX (s) is greater
than the denominator.

2.38 a)
1
7[sX (s) − 3] + 5X (s) = 4s
s
= 4
25 25/7
X (s) =
7s + 5
=
s + 5/7
x(t) =
25
7
e−5t/7
x(0+) = lim s
s→∞
25/7
=
25
s + 5/7 7
which is not the same as x(0−).
b)
1 6
7[sX (s) − 3] + 5X (s) = 4s
s
+
s
X (s) =
25s + 6
=
1 25s + 6 6 1 83 1
= +
s(7s + 5) 7 s(s + 5/7) 5 s 35 s + 5/7
6 83 5t/7
x(t) =
5
+
35
e−
which gives x(0+) = 25/7, which is not the same as x(0−). However, the initial value
theorem is invalid for computing x(0+) and gives an undefined result because the orders of
the numerator and denominator of X (s) are equal.

s
c)
1
3[s2
X (s) − 2s − 3] + 30[sX (s) − 2] + 63X (s) = 4s = 4
1 6s + 73 55 1 31 1
X (s) =
3 (s + 3)(s + 7)
=
12 s + 3
−
12 s + 7
55 3t
x(t) =
12
e− 31 7t
−
12
e−
This gives x(0) = 2, which is the same as x(0−), and x˙(0) = 13/2, which is not the same
as x˙(0−).
1
x(0+) = lim s
6s + 73
= 2s→∞ 3 (s + 3)(s + 7)
x˙(0+) and gives an undefined result because the order of the numerator of sX (s) is greater
than the denominator.

s s
d)
1 6
3[s2
X (s) − 4s − 7] + 30[sX (s) − 4] + 63X (s) = 4s +
1 12s2 + 145s + 6 1 1 1
X (s) =
3 s(s2 + 10s + 21)
= 0.0952
s
+ 8.9167
s + 3
− 5.0119
s + 7
x(t) = 0.0952 + 8.9167e−3t
− 5.0119e−7t
This gives x(0) = 4, which is the same as x(0−), and x˙(0) = 8.3332, which is not the same
as x˙(0−).
The initial value theorem gives x(0+) = 4 but is invalid for computing x˙(0+) because
the orders of the numerator and denominator of sX (s) are equal.

2.39 Transform each equation.
3[sX (s) − 5] = Y (s)
4
Solve for X (s) and Y (s).
sY (s) − 10 =
s
− 3Y (s) − 15X (s)
15s2 + 55s + 4 1 15s2 + 55s + 4
X (s) =
3s3 + 9s2 + 15s
=
3 s(s2 + 3s + 5)
30s − 213 1 30s − 213
Y (s) =
3s2 + 9s + 15
=
3 s2 + 3s + 5
The denominator roots are s = −1.5 ± 1.658j. Thus
X(s) =
C1
+
1 1.658 s + 1.5
and
s 3
C1
(s + 1.5)2 + 2.75
+ C2
(s + 1.5)2 + 2.75
1 1
"
3t/2
√
11! √
√
11
!#
Also,
x(t) =
4
+
165
e−
781 cos t + 313
2
11 sin t
2
1.658 s + 1.5
and
Y (s) = C1
(s + 1.5)2 + 2.75
+ C2
(s + 1.5)2 + 2.75
2
y(t) =
11
e−
"
3t/2
55 cos
√
11!
2
t
− 86
√
11 sin
√
11!#
2
t

2.40 Transform each equation.
sX (s) − 5 = −2X(s) + 5Y (s)
10
sY (s) − 2 = −6Y (s) − 4X (s) +
s
Solve for X (s) and Y (s).
X (s) =
Y (s) =
5s2 + 40s + 50
s3 + 8s2 + 32s
2s2 − 6s + 20
s3 + 8s2 + 32s
The denominator roots are s = 0 and s = −4 ± 4j. Thus
X (s) =
C1
+ C
4
+ C
s + 4
s
2
(s + 4)2 + 42 3
(s + 4)2 + 42
25 55 4
= + +
55 s + 4
16s 16 (s + 4)2 + 42 16 (s + 4)2 + 42
25 55 4t 55 4t
Also,
x(t) =
16
+
16
e−
sin 4t +
16
e−
cos 4t
Y (s) =
C1
+ C
4
+ C
s + 4
s
2
(s + 4)2 + 42 3
(s + 4)2 + 42
5
=
8s
−
33 4
8 (s + 4)2 + 42
+
11 s + 4
8 (s + 4)2 + 42
5
y(t) =
8
−
33 4t
8
e−
sin 4t +
11 4t
8
e−
cos 4t

2.41 Transforming both sides of the equation we obtain
s2
Y (s) − sy(0) − y˙(0) + Y (s) =
which gives
1
s + 1
Y (s) = (s + 1) [sy(0) + y˙(0)] + 1
=
(s + 1)(s2 + 1)
s2 y(0) + [y(0) + y˙(0)] + y˙(0) + 1
(s + 1)(s2 + 1)
This can be expanded as follows.
1 1 s
Y (s) = C1
s + 1
+ C2
s2 + 1
+ C3
s2 + 1
We find the coefficients following the usual procedure and obtain C1 = 1/2, C2 = y˙(0) +1/2,
and C3 = y(0) − 1/2. Thus the solution is
1 t 1 1
y(t) =
2
e−
+ y˙(0) +
2
sin t + y(0) −
2
cos t

Because the initial values can be arbitrary, the general form of the solution is
1 t
y(t) =
2
e− + A1 sin t + A2 cos t (1)
This form can be used to obtain a solution for cases where y(t) or y˙(t) are specified at points
other than t = 0. For example, suppose we are given that y(0) = 5/2 and y(π/2) = 3. Then
evaluation of equation (1) at t = 0 and at t = π/2 gives
1 5 π 1 π/2
y(0) =
2
+ A2 =
2
y
2
= e−
2
+ A1 = 3
The solution of these two equations is A1 = 3 − e−π/2/2 = 2.896 and A2 = 2, and the
solution of the differential equation is
1 t
y(t) =
2
e−
+ 2.896 sin t + 2 cos t

−
2.42 (a) For nonzero initial conditions, the transform gives
3
s2
X (s) sx(0) + x˙(0) + 4X (s) =
s2
or
3 2
X (s) =
s x(0) + s x˙ (0) + 3
=
C1
+C2
+ C
2 s
The solution form is thus
s2 (s2 + 4) s2 s 3
s2 + 4
+ C4
s2 + 4
x(t) = C1t + C2 + C3 sin 2t + C4 cos 2t
which can be used even if the boundary conditions are not specified at t = 0.
(b) The form from part (a) satisfies the differential equation if C1 = 3/4 and C2 = 0.
From x(0) = 10, we obtain C4 = 10. From x(5) = 30, we obtain C3 = −63.675. Thus
3
x(t) =
4
t − 63.675 sin 2t+ 10 cos 2t

2.43 The denominator roots are s = −3 ± 5j and s = ±6j. Thus we can express X (s) as
follows.
30
X (s) =
[(s + 3)2 + 52] (s2 + 62)
which can be expressed as the sum of terms that are proportional to entries 8 through 11
in Table 2.2.1.
5 s + 3 6 s
X (s) = C1
(s + 3)2 + 52 + C2
(s + 3)2 + 52 + C3
s2 + 62 + C4
s2 + 62 (1)
We can obtain the coefficients by noting that X (s) can be written as
5C1(s2 + 62) + C2(s + 3)(s2 + 62) + 6C3 (s + 3)2 + 52 + C4s (s + 3)2
+ 52
X (s) = (2)
[(s + 3)2 + 52] (s2 + 62)
Comparing the numerators of equations (1) and (2), and collecting powers of s, we see that
(C2 + C4)s3
+ (5C1 + 3C2 + 6C3 + 6C4)s2
+ (36C2 + 36C3 + 34C4)s
+180C1 + 108C2 + 204C3 = 30
or
C2 + C4 = 0 5C1 + 3C2 + 6C3 + 6C4 = 0
36C2 + 36C3 + 34C4 = 0 180C1 + 108C2 + 204C3 = 30
These are four equations in four unknowns. Note that the first equation gives C4 = −C2.
Thus we can easily eliminate C4 from the equations and obtain a set of three equations in
three unknowns. The solution is C1 = 6/65, C2 = 9/65, and C3 = −1/130, and C4 = −9/65.

−
x(t) = C1e−3t
sin 5t + C2e−3t
cos 5t + C3 sin 6t + C2 cos 6t
=
6
e−3t
sin 5t +
65
9
e−3t
cos 5t
65
1
130
sin 6t −
9
65
cos 6t

2.44 Transform the equation.
(s2
+ 12s + 40)X(s) = 3
5
s2 + 25
The characteristic roots are s = −6 ± 2j. Thus
15
X (s) =
(s2 + 25)(s2 + 12s + 40)
5 s 2 s + 6
= C1
s2 + 25
+ C2
s2 + 25
+ C3
(s + 6)2 + 4
+ C4
(s + 6)2 + 4
or
1 5 4 s 19 2 4 s + 6
Thus
X (s) =
85 s2 + 25
−
85 s2 + 25
+
170 (s + 6)2 + 4
+
85 (s + 6)2 + 4
1
4
19
6t
4 6t
x(t) =
85
sin 5t −
85
cos 5t +
170
e−
sin 2t +
85
e−
cos 2t

2.45 From the text example, the form A sin(ωt + φ) has the transform
s sin φ + ω cos φ
A
s2 + ω2
For this problem, ω = 5. Comparing numerators gives
A (s sin φ + 5 cos φ) = 4s + 9
Thus
A sin φ = 4 5A cos φ = 9
With A > 0, φ is seen to be in the first quadrant.
φ = tan−1 sin φ
= tan−1
4/A
= tan−1 20
= 1.148 rad
Because sin2 φ + cos2 φ = 1,
cos φ
4 2
A
9/5A 9
9 2
+ = 1
5A
which gives A = 4.386. Thus
x(t) = 4.386 sin(5t + 1.148)

2.46 Taking the transform of both sides of the equation and noting that both initial con-
ditions are zero, we obtain
s2
X(s) + 6sX(s) + 34X(s) = 5
6
s2 + 62
Solve for X (s).
30
X (s) =
(s2 + 6s + 34)(s2 + 62)
6 3t 9
3t
1 9
x(t) =
65
e−
sin 5t +
65
e−
cos 5t −
130
sin 6t −
65
cos 6t

(s2
+ 12s + 40)X (s) =
10
s
or, since the characteristic roots are s = −6 ± 2j,
10
X (s) =
s[(s + 6)2 + 22]
(1)
From the text example, the form Ae−at sin(ωt + φ) has the transform
s sin φ + a sin φ + ω cos φ
A
(s + a)2 + ω2
For this problem, a = 6 and ω = 2. Thus
10
C1
s sin φ + 6 sin φ + 2 cos φ
X (s) =
or
=
s[(s + 6)2 + 22] s
2 2
+ C2
(s + 6)2 + 22
X (s) =
C1(s + 12s + 40) + C2s sin φ + 6C2s sin φ +
2C2s cos φ s[(s + 6)2 + 22]
(2)

Collecting terms and comparing the numerators of equations (1) and (2), we have
(C1 + C2 sin φ)s2
+ (12C1 + 6C2 sin φ + 2C2 cos φ)s + 40C1 = 10
Thus comparing terms, we see that C1 = 1/4 and
1
4
+ C2 sin φ = 0
3 + 6C2 sin φ + 2C2 cos φ = 0
So
1 3
C2 sin φ = −
4
C2 cosφ = −
4
Thus φ is in the third quadrant and
φ = tan−1 −1/4
= 0.322 + π = 3.463 rad
−3/4
Because sin2 φ + cos2 φ = 1,
which gives C2 = 0.791. Thus
1 2
4C2
1
3 2
+ = 1
4C2
6t
x(t) =
4
+ 0.791e−
sin(2t + 3.463)

Thus
X(s) =
F (s)
s2 + 8s + 1
F (s) s2 + 8s
F (s) − X (s) = F (s) −
s2 + 8s + 1
=
s2 + 8s + 1
F (s)
Because F (s) = 6/s2,
s2 + 8s 6 s + 8 6
F (s) − X (s) =
s2 + 8s + 1 s2 =
s2 + 8s + 1 s
From the final value theorem,
fss − xss = lim s[F(s) − X (s)] = lim s
s + 8 6
= 8
s→0 s→0 s2 + 8s + 1 s

−
2.49 The roots are s = −2 and −4. Thus
1 − e− 3s
Let
X (s) =
(s + 2)(s + 4)
1 1 1 1
F (s) =
(s + 2)(s + 4)
=
2
so
s + 2
−
s + 4
f(t) =
1
e−2t
2
From Property 6 of the Laplace transform,
− e−4t
x(t) =
1
e−2t
2
− e−4t 1 h
e−2(t−3)
2
− e−4(t−3)
i
us (t − 3)

−
2.50
f(t) =
C
tu (t) −
2C
(t − D)u (t − D) +
C
(t − 2D)u (t − 2D)
D
s
D
s
D
s
F (s) =
C
Ds2
2C
Ds2
e−Ds
+
C
Ds2
e−2Ds
=
C
Ds2
1 − 2e−Ds
+ e−2Ds

2.51
f(t) =
C
tu (t) −
C
(t − D)u (t − D) − Cu (t − D)
D
s
D
s s
F (s) =
C
−
C
e−Ds
−
C
e−Ds
Ds2 Ds2 s

−
2.52
From Property 6,
f(t) = M us (t) − 2M us (t − T) + M us (t − 2T)
F (s) =
M
s
2M
e−Ts
+
s
M
e−2Ts
s

2.53
From Property 6,
P (t) = 3us (t) − 3us (t − 5)
P (s) =
3 3
s
−
s
e−5s
X(s) =
P (s)
=
3 1 − e−
=
3 1 − e
Let
4s + 1
5s
s(4s + 1)
−5s
4 s(s + 1/4)
3 1 1
1
Then
F (s) =
4 s(s + 1/4)
= 3
s
−
s + 1/4
Since
we have
f(t) = 3 1 − e−t/4
X(s) = F(s) 1 − e−5s
x(t) = f(t) − f(t − 5)us (t − 5) = 3 1 − e−t/4
− 3
h
1 − e−(t−5)/4
i
us (t − 5)

2.54 Let
3 5
f(t) = t +
t
+
2t
Then
F (s) =
3
1 2 16
+ + =
s2 s4 s6
15
s4 + 2s2 + 16
s6
From the differential equation,
4 2
X (s) =
F (s)
s + 1
=
s + 2s + 16
s6 (s + 1)
Thus
16
=
s6
2 5
16
−
s5
2 4
18 18 19
+
s4
−
s3
+
s2
3 2
19
−
s
+
19
s + 1
−tx(t) =
15
t −
3
t + 3t − 9t + 19t− 19 + 19e
On a plot of this and the solution obtained from the lower-order approximation, the two
solutions are practically indistinguishable.

|t=0
2.55 From the derivative property of the Laplace transform, we know that
Therefore
L[x˙(t)] =
Z ∞
x˙(t)e−st
dt = sX (s) − x(0)
0
lim [sX(s)] = lim x(0) +
Z ∞
x˙(t)e−st
dts→∞
= lim x(0) + lim lim
Z
s→∞
x˙(t)e−st
dt
0
+ lim
Z
lim
h
x˙(t)e−st
dt
i
s→∞ s→∞ →0+ 0 →0+ 0 s→∞
The limits on and s can be interchanged because s is independent of t. Within the interval
[0, 0+], e−st = 1, and so
lim [sX(s)] = x(0) + lim lim
Z
x˙(t) dt + lim
Z
lim
h
x˙(t)e−st
dt
i
s→∞ s→∞ →0+ 0 →0+ 0 s→∞
This proves the theorem.
= x(0) + x(t) t=0+
+ 0 = x(0+)

2.56 From the derivative property of the Laplace transform, we know that
Therefore,
L[x˙(t)] =
Z ∞
x˙(t)e−st
dt = sX (s) − x(0)
0
Z ∞
lim [sX(s)] = lim x(0) + lim x˙(t)e−st
dt
s→0 s→0
Z ∞ h
s→0 0
i ∞
= x(0) +
0
lim
s→0
x˙(t)e−st
dt
st
Z
= x(0) +
0
x˙(t) dt
because s is independent of t and lims→0 e−
"Z T
= 1. Thus
#
h
t=T
i
lim [sX(s)] = x(0) + lim x˙(t) dt = x(0) + lim x(t)|t=0s→0 T →∞ 0 T→∞
= x(0) + lim
T→∞
x(T ) − x(0) = lim
T→∞
x(T ) = lim x(t)
t→∞
This proves the theorem.

g(t)e−st
dt =
g(t)e−
−
2.57 Let
Then Z t
g(t) =
Z t
x(t) dt
0
Z t
L x(t) dt
0
= L[g(t)] = g(t)e−st
dt
0
To use integration by parts we define u = g and dv = e−stdt, which give du = dg = x(t) dt
and v = −e−st/s. Thus
Z t st t=∞ Z ∞ e− st
x(t) dt
0 −s t=0 0 −s
= 0 +
g(0)
+
1
Z ∞
x(t)e−st
dt =
g(0)
+
X (s)
s s 0 s s
1
Z
This proves the property.
= x(t) dt
s
t=0
+
X (s)
s
If there is an impulse in x(t) at t = 0, then g(0) equals the strength of the impulse. If
there is no impulse at t = 0, then g(0) = 0.

2.58 a)
[r,p,k] = residue([8,5],[2,20,48])
The result is r = [10.7500, -6.7500], p = [-6.0000, -4.0000], and k = [ ]. The
solution is
x(t) = 10.75e−6t
− 6.75e−4t
b)
[r,p,k] = residue([4,13],[1,8,116])
The result is r = [2.0000 - 0.1500i, 2.0000 + 0.1500i], p = [-4.0000 + 10.0000i,
-4.0000 - 10.0000i], and k = [ ]. The solution is
x(t) = (2 − 0.15j)e(−4+10j)t
+ (2 + 0.15j)e(−4−10j)t
The solution is
c)
x(t) = 2e−4t
(2 cos 10t+ 0.15 sin 10t)
[r,p,k] = residue([3,2],[1,10,0,0])
The result is r = [ -0.2800, 0.2800, 0.2000], p = [-10, 0, 0], and k = [ ]. The
solution is
x(t) = −0.28e−10t
+ 0.28 + 0.2t

d)
[r,p,k] = residue([1,0,1,6],[1,2,0,0,0,0])
The result is r = [-0.2500, 0.2500, 0.5000, -1.0000, 3.0000], p =[ -2, 0, 0, 0,
0], and k = [ ]. The solution is
x(t) = −0.25e−2t
+ 0.25 + 0.5t−
e)
1
t2
+
2
1
t3
2
[r,p,k] = residue([4,3],[1,6,34,0])
The result is r = [-0.0441 - 0.3735i, -0.0441 + 0.3735i, 0.0882], p = [-3.0000
+ 5.0000i, -3.0000 - 5.0000i, 0], and k = [ ].The solution is
x(t) = (−0.0441 − 0.3735j)e(−3+5j)t
+ (−0.0441 + 0.3735j)e(−3−5j)t
+ 0.0882
The solution is
x(t) = 2e−3t
(−0.0441 cos 5t + 0.3735 sin 5t) + 0.0882

f)
[r,p,k] = residue([5,3,7],[1,12,44,48])
The result is r = [21.1250 -18.7500 2.6250], p = [ -6, -4, -2], and k = [ ]. The
solution is
x(t) = 21.125e−6t
− 18.75e−4t
+ 2.625e−2

2.59 a)
[r,p,k] = residue(5,conv([1,8,16],[1,1]))
The result is r = [-0.5556, -1.6667, 0.5556], p = [-4.0000, -4.0000, -1.0000], k
= [ ]. The solution is
x(t) = −0.5556e−4t
− 1.6667te−4t
+ 0.5556e−t
b)
[r,p,k] = residue([4,9],conv([1,6,34],[1,4,20]))
The result is r = [-0.1159 + 0.1073i, -0.1159 - 0.1073i, 0.1159 - 0.1052i, 0.1159
+ 0.1052i], p = -3.0000 + 5.0000i, -3.0000 - 5.0000i, -2.0000 + 4.0000i, -2.0000
- 4.0000i], and k = [ ]. The solution is
x(t) = (−0.1159 + 0.1073j)e(−3+5j)t
+ (−0.1159 − 0.1073j)e(−3−5j)t
+ (0.1159 − 0.1052j)e(−2+4j)t
+ (0.1159 + 0.1052j)e(−2−4j)t
The solution is
x(t) = 2e−3t
(−0.1159 cos 5t − 0.1073 sin 5t) + 2e−2t
(0.1159 cos 4t + 0.1052 sin 4t)

2.60 a)
sys = tf(1,[3,21,30]);
step(sys)
b)
sys = tf(1,[5,20, 65]);
step(sys)
c)
sys = tf([3,2],[4,32,60]);
step(sys)

2.61 a)
sys = tf(1,[3,21,30]);
impulse(sys)
b)
sys = tf(1,[5,20, 65]);
impulse(sys)

2.62
sys = tf(5,[3,21,30]);
impulse(sys)

2.63
sys = tf(5,[3,21,30]);
step(sys)

2.64 a)
sys = tf(1,[3,21,30]);
t = [0:0.001:1.5];
f = 5*t;
[x,t] = lsim(sys,f,t);
plot(t,x)
b)
sys = tf(1,[5,20,65]);
t = [0:0.001:1.5];
f = 5*t;
plot(t,x)
c)
sys = tf([3,2],[4,32,60]);
t = [0:0.001:1.5];
f = 5*t;
plot(t,x)

2.65 a)
sys = tf(1,[3,21,30]);
t = [0:0.001:6];
f = 6*cos(3*t);
plot(t,x)
b)
sys = tf(1,[5,20,65]);
t = [0:0.001:6];
f = 6*cos(3*t);
plot(t,x)
c)
sys = tf([3,2],[4,32,60]);
t = [0:0.001:6];
f = 6*cos(3*t);
plot(t,x)
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