1/.

period = 12.66 / 4 = 3.16 secs

ωd = 2π / period = 1.985 rads / sec
static gain = k = 200 / 20 Ouputs / Input
1  X 1  1  144.44 
logarithmic decrement = δ = ln  = ln  = 0.6413
n  X n  4  1..11 

ζ =
(
δ δ 2 + 16π − δ )
= 0.09698
8π 2
ωn = ωd / 1 − ζ 2 = 1.995
kωn
2
39.80
H ( s) = =
s + 2ζω n s + ωn
2 2
s + 0.387 s + 3.980
2

40
This is pretty close. The graph was created using H ( s ) =
s + 0 .4 s + 4
2
2/. Differential equation for system:

c k c k
&y& + y& + y = x& + x
m m m m

Consider instead the “standard” system:

c k 1
&y& + y& + y = z where z = cx& + kx
m m m

For the values given, the parameters of this system are:

0.1
H ( s) =
s + 25s + 100
2

ωn = 10 ζ = 1.25 k = static gain = 0.001 m/N

When x(t) is 0.02u(t) metres, z(t) is the sum of an impulse (note that the derivative
of a step is an impulse).

z = cx& + kx
= (250 Ns/m)(0.02m)δ (t ) + (1000 N/m)(0.02m)u (t )
= 5 Newton - seconds δ (t ) + 20 Newton u (t )

The response of an overdamped second order system to an impulse (p5 -10) is:

y (t ) =
kω N C
2 ζ 2
−1
[e −ω N (ζ − ζ 2 −1 ) t
− e −ω N ( ζ + ζ 2 −1 ) t
]
Plugging in C = 5 N-sec and the other values gives:

y (t ) = 0.033 3 e −5t − 0.033 3 e −20t

The response of an overdamped second order system to a step (p5-13) is:

 

y (t ) = Ck 1 − 
1

( )
 ζ + ζ 2 − 1 e −ω N (ζ − ζ 2 −1 )t +  
 
 
2
 (
  2 ζ − 1  − ζ + ζ 2 − 1 e −ω N (ζ + ζ −1 )t  
2

  )
Plugging in C = 20 N and the other values gives:

y (t ) = 0.02 + 0.0266 6 e −5t + 0.0066 6 e −20t

 The total response of the system is the sum of its response to the impulse and its
response to the step:

y (t ) = 0.02 + 0.0066 6 e −5t − 0.0266 6 e −20t

This agrees with the previously obtained result.

3/.