1

2-1 (a) Poles: s =0, 0, 1, 10; (b) Poles: s =2, 2;

Zeros: s =2, , , . Zeros: s =0.
The pole and zero at s =1 cancel each other.


(c) Poles: s =0, 1 +j, 1 j; (d) Poles: s =0, 1, 2, .
Zeros: s =2.

2-2 (a) (b) (c)

( )
2
5
( )
5
G s
s
=
+

( )
2
4 1
( )
4 2
s
G s
s s
= +
+ +
G s
s s
( ) =
+ +
4
4 8
2

(d) (e)
G s
s
( ) =
+
1
4
2
G s e
e
kT s
k
T s
( )
( )
( )
= =

+
=

5
0
5
1
1


2-3 (a)

( )
( )
( ) ( )
2 3
2
2
( ) ( ) 2 ( 1) 2 ( 2) 2 ( 3)
1 1
( ) 1 2 2 2
1
( ) ( ) 2 ( 1) ( 2) 0 2
1 1
( ) 1 2 1
s s s s
s
s s s
s
T s s s
s s s
T
g t u t u t u t u t
e
G s e e e
s s e
g t u t u t u t t
G s e e e
s s

= + +

= + + =
+
= +
= + =
L
L

Chapter 2 MATHEMATICAL FOUNDATION
2
g t g t k u t k G s
s
e e
e
s e
T s
s ks
s
s
k k
( ) ( ) ( ) ( ) ( )
( )
= = =

+

2 2
1
1
1
1
2 2
0 0

(b)
( ) 2 ( ) 4( 0.5) ( 0.5) 4( 1) ( 1) 4( 1.5) ( 1.5)
s s s s
g t tu t t u t t u t t u t = + + L
( )
( )
( )
0.5
0.5 1.5
2 2 0.5
2 1
2
( ) 1 2 2 2
1
s
s s s
s
e
G s e e e
s s e

= + + =
+
L
g t tu t t u t t u t t
T s s s
( ) ( ) ( . ( . ) ( ) = + 2 4 0 5) 0 5) 2( 1 1 0 1

( ) ( )
2
0.5 0.5
2 2
2 2
( ) 1 2 1
s s s
T
G s e e e
s s

= + =
( )
( )
( )
0.5
2
0.5
2 2 0.5
0 0
2 1
2
( ) ( ) ( ) ( ) 1
1
s
s ks
T s s
k k
e
g t g t k u t k G s e e
s s e

= =

= = =
+



2-4
g t t u t t u t u t t u t t u t u t
s s s s s s
( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ( ( = + + + 1 1 1 2 1 2 2 3) 3) 3)


( ) ( )
2 3 3
2
1 1
( ) 1 1 2
s s s s s
G s e e e e e
s s

= + + +

2-5 (a) Taking theLaplacetransformof thedifferential equation, weget
( ) ( ) ( )
( )( )( ) ) ( ) )
s s F s
s
F s
s s s s s s
2
5 4
1
2
1
1 2 4
1
6( 4
1
3 1
1
2( 2
+ + =
+
=
+ + +
=
+
+
+

+

f t e e e t
t t t
( ) = +

1
6
1
3
1
2
0
4 2

(b) sX s x X s x sX s x X s X s
s
x
1 1 2 1 2 2 1 2 2
0 0 1 0 2 3
1
0 0 ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) = = = + =
Solving for X
1
(s) and X
2
(s), wehave

X s
s s
s s s s s s
X s
s s s s
1
2
2
3 1
1 2
1
2
1
1
1
2( 2
1
1 2
1
1
1
2
( )
( )( ) )
( )
( )( )
=
+ +
+ +
= +
+

+
=

+ +
=

+
+
+

Taking the inverse Laplace transformon both sides of the last equation, we get
x t e e t x t e e t
t t t t
1
2
2
2
0 5 0 5 0 0 ( ) . . ( ) = + = +



3
2-6 (a)
G s
s s s
g t e e t
t t
( )
) (
( ) =
+
+
+
= +

1
3
1
2( 2
1
3 3)
1
3
1
2
1
3
0
2 3


(b)
G s
s s s
g t e te e t
t t t
( )
.
( )
.
( ) . . =

+
+
+
+
+
= + +

2 5
1
5
1
2 5
3
2 5 5 2 5 0
2
3

(c)

( )
[ ]
( 1)
2
50 20 30 20
( ) ( ) 50 20 30cos2( 1) 5sin2( 1)
1 4
( 1)
s t
s
s
G s e g t e t t
s s s
u t

+
= =
+ +

(d)
G s
s
s
s s s s s
s
s s
( ) =

+ +
= +
+ +

+ +
1 1
2
1 1
2 2
2 2 2
Taking the inverse Laplace transform,
( ) [ ] ( )
0.5 o 0.5
( ) 1 1.069 sin1.323 sin 1.323 69.3 1 1.447sin1.323 cos1.323 0
t t
g t e t t e t t t

= + + = +
(e) g t t e t
t
( ) . =

0 5 0
2


2-7

1
2
1 2 0 0 0
( )
0 2 3 1 0 ( )
( )
1 3 1 0 1
u t
t
u t

= = =









A B u



2-8 (a) (b)
3 2
( ) 3 1
( ) 2 5 6
Y s s
R s s s s
+
=
+ + +

4 2
( ) 5
( ) 10 5
Y s
R s s s s
=
+ + +

(c) (d)

4 3 2
( ) ( 2)
( ) 10 2 2
Y s s s
R s s s s s
+
=
+ + + +

2
( ) 1 2
( ) 2 5
s
Y s e
R s s s

+
=
+ +

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