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0 0 0 rad sec 0 2 ω π −1

This document describes the response of a first-order system to a sinusoidal input. The solution is the sum of the homogeneous and particular solutions. The particular solution is conjectured to have the same form as the input signal multiplied by a constant α and phase-shifted by ψ. Equating coefficients reveals that α is equal to the square root of 1 divided by 1 plus the square of the product of angular frequency and time constant, and ψ is equal to the inverse tangent of the product of angular frequency and time constant. Therefore, the steady-state response is a cosine wave with the same frequency as the input but with attenuation and phase delay.

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26 views3 pages

0 0 0 rad sec 0 2 ω π −1

This document describes the response of a first-order system to a sinusoidal input. The solution is the sum of the homogeneous and particular solutions. The particular solution is conjectured to have the same form as the input signal multiplied by a constant α and phase-shifted by ψ. Equating coefficients reveals that α is equal to the square root of 1 divided by 1 plus the square of the product of angular frequency and time constant, and ψ is equal to the inverse tangent of the product of angular frequency and time constant. Therefore, the steady-state response is a cosine wave with the same frequency as the input but with attenuation and phase delay.

Uploaded by

eta1232002
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Response of 1st-order system to sinusoidal input

x + x = f (t)

x(0) = 0 initial condition

f (t) = f0 cos 0 t periodic forcing function



0 = angular frequency rad
sec

0 = 20 = frequency [Hz] = sec1

f0 = amplitude

Solution: x(t) = xh (t) + xp (t) = homogeneous + particular


t

xh (t) = Ae

Conjecture: xp (t) = f0 cos (0 t + )


Procedure: First calculate , , then A.
xp (t) + xp (t) = f (t)
0 f0 sin (0 t + ) + f0 cos (0 t + ) = f0 cos 0 t trig substitution
0 f0 [sin 0 t cos + cos 0 t sin ] + f0 [cos 0 t cos sin 0 t sin ] = f0 cos 0 t
f0 (0 cos +sin ) sin 0 t+f0 (0 sin +cos ) cos 0 t = f0 cos 0 t must be true for all t
equate coecients

f0 (0 sin + cos ) = f0
0 t cos + sin = 0
(2)

(1)

From (2), tan = 0 t


From (1) tan sin + cos =
= cos =
xp (t) =

1
1+tan2

f0

1+tan2

f0
f0

1
1
cos =
1 2

1+(0 t)

cos (0 t tan1 0 t)

Back to the complete solution:


t

x(t) = Ae + f0 cos (0 t )
x(0) = 0 = A + f0 cos A = f0 cos
Final Solution:
x(t) =

f0
( e 2
2
1+(0 t)
1+(0 t)

+ cos (0 t ))

Note that the rst term here is the exponential decay, while the second is the steady-state solution. Longterm, we are interested in the steady-state response (i.e., t ) when the exponential has decayed and
the cosinusoidal is what remains.
xsteadystate (t) f0 2 cos (0 t )
1+(0 t)

response
[rad]

phase delay

attenuation
2.004 Fall 07

Lecture 29 Friday, Nov. 16

More generally, for linear time-invariant systems, where f (t) LT I x(t) [steady-state only!]:
If f (t) = f0 cos (0 t ) then x(t) = f0 cos (0 t + ),
since the system is linear (0 t) and shift invariant ().
E.g.: 1st-order low-pass system, x + x = f

Figure 1: () =

1
1+( )2

A graph showing the change in as ranges from zero to


0 .

Figure 2: () = tan1 ( )

A graph of over the range of from zero to 0 .

It is convenient here to dene a complex number, G:


G() = ()ei()
where () is the magnitude of the function, and () is the phase. G therefore is the transfer function.
Why is it convenient?
We started this discussion by using the excitation:
f (t) = f0 cos 0 t = f0 Re[eit ]
We found that:
x(t) = f0 cos 0 t + = f0 Re[ei(t+) ]
In other words:
x(t) = f0 Re[H(0 )ei0 t ] !!
We will soon return to this point!
The representation of a sinusoid
cos 0 t +
by a complex number
ei
is known as phasor representation.
Sometimes we use the notation
ei
to denote the phasor in terms of its amplitude and phase .
2

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