ECE311S: Dynamic Systems and Control

Problem Set 2

Problem 1
You are given a nonlinear system
ẋ1 = −x1 + u
ẋ2 = −2x2 + x3
ẋ3 = ex1 x2 + u
y = x1 + x2 .

(i) Setting u = 1, find the equilibrium point of the system.

(ii) Find a linearized model of the system about the equilibrium point you found in part (i).

Main Properties of the Laplace Transform

Memorize this table of Laplace transform pairs

f (t) F (s)
δ(t) 1

1(t) 1/s

t1(t) 1/s2

tk 1(t)(k integer) k!/sk+1

eat 1(t) 1
s−a
tk eat 1(t) k!
(s − a)k+1
sin(at)1(t) a
s2 + a 2
cos(at)1(t) s
s2 + a 2
where 1(t) denotes the unit step, i.e. 
1

t≥0
1(t) =
0

t<0

1
The following is a list of the main properties of Laplace transforms. Using these properties you’ll be able to
solve Problems 1 and 2 without computing any integral. Throughout the following we denote F (s) := L{f (t)},
G(s) := L{g(t)}.

P1: Linearity (∀c1 , c2 ∈ ℜ) L{c1 f (t) + c2 g(t)} = c1 F (s) + c2 G(s).

d
P2: Differentiation L dt f (t) = sF (s) − f (0− ).
nR o
t
P3: Integration L 0 f (τ )dτ = 1s F (s).

P4: Convolution L{f (t) ⋆ g(t)} = F (s)G(s).

P5: Time shift Let T > 0. Then, L{f (t − T )1(t − T )} = e−T s F (s).

P6: Shift in s L{eat f (t)} = F (s − a).

dF (s)
P7: Multiplication by t L{tf (t)} = − .
ds

Problem 2
Find the Laplace transform of each of the following time-signals.

1. f (t) = 3t2 e−t · 1(t)

2. f (t) = sin t cos t · 1(t)
3. f (t) = sin(t − 3) · 1(t)
4. f (t) = sin(t − 3) · 1(t − 3)
5. f (t) = t sin(t − 3)1(t)
6. f (t) = (t − 3)et−3 1(t)
7. f (t) = (t − 3)et−3 1(t − 3)
8. f (t) = te−at + 2t cos t
9. f (t) = t2 + e−at sin bt

Problem 3
Find the inverse Laplace transform of each of the following functions.

2
 s2 + s + 1
1. F (s) = (1)
(s + 1)(s + 2)(s + 3)
s2 + s + 1
 
2. F (s) = e−s (2)
(s + 1)(s + 2)(s + 3)
e−2s
3. F (s) = (3)
s−3
e1−s
4. F (s) = (4)
s
1
5. F (s) = 6 (5)
s
10
6. F (s) = (6)
s(s + 1)(s + 10)
1
7. F (s) = (7)
s(s + 2)2
2(s + 2)
8. F (s) = (8)
(s + 1)(s2 + 4)

Problem 4
2−s
Given F (s) = (s−1)(s+2) , find limt→+∞ f (t).

Problem 5
Find the solution y(t) to each of the following differential equations

1. ÿ + 2ẏ + 5y = exp(−t) 1(t) y(0) = ẏ(0) = 0

2. ÿ − y = 1(t) y(0) = 1, ẏ(0) = 1

3. y (4) + 4y (3) + 8y (2) + 8y (1) + 4y = 3u̇ + 4u y(0) = ẏ(0) = · · · = y (3) (0) = 0

u = 1(t)
4. ÿ + ẏ + 3y(t) = 0; y(0) = α, ẏ(0) = β