Initial and FinalValueTheorems FinalValueTheorem value - determines the steady-state of the systemresponse without finding the inverse transform.

Procedure: 1.) find the transfer function X(s) 2.) multiply X(s)by s 3.) takethe limitof sX(s)as S goesto zero 4.) resultis valueof x(t)whent = infinity x ( t) =
@

lim
{--

lim
S-> 0

s. X(s)

Initial Value Theorem - determines thevalue of thetime function whent=0without finding theinverse transform Procedure: 1.) findthetransfer function X(s) 2.) multiply X(s)by s 3.) takethe limit as S of sX(s) goesto infinity 4.) result is value of x(t)whent =0 lim x(t) = lim
t-.0 s - > oo

s.X(s)

et438a-6.MCD 15

Example 1: Findthe initial value function of thetransfer

x ( s ) = z ; to t
x(oi=l, , *r t X C t) = l ,n tt sx(s): *
T -70 S +oc l,^, 1 _ Bo E
t

s . (s ' * 2 .s r 1 0 1 )

), mi

KBoV

S- + oo V( S. + ZSt t ot ) ua- |, ue= , d s n, ok c Lar - c 1r

S--+o0' J;Zg+E

de^o^rruo$uc /"Ter-

fc,trq-> s

x(o).J:,1 ;r#, . S g
Example 2: Findthe finalvalue of thetransfer function X(s)above. /''""* x(t):- l''^rl' sx(s) V*t*-<F^*C -7c-t S-+ O

f r '''r 'lSy ( s \= l ,- ,t
5-> o
c5 S-)o

K (so?)
(ftnas*lorl '\'
a^.J Ls-)o

s-)o

_1, ^rf
s-?o

goB
sztZs{lol

Sz >o

l r * r- f _3 :J5-9o +l-siio t

. jg-

g
5: -

lDl

fh*

g {, ^*f vc,-[u1

X(ou) = B

et438a-6.MCD 16

Using Laplace for solving mechanical systems

fortheabove system Writethedifferential equations Laplace themusing and solve withrespect to position f(t; = F andthatthe mass Assume methods. transform x(0)=g surface. on a frictionless slides

f(t) =M.

d2

x ( t) + B h x ( t ) * K ' x ( t )

dt2
r{ d 2 x ( t) + 8 .: -x(t )*K. x(t ) F =M ' dt dt2

of bothsides TakeLaplace transform

:-=M.sz.X(s) B.s.X(s). K.X(s) " S

X(s) forthe position Solve
t_ 2

l -6

s\ M ' s
Et438a-6.mcd 17

+ B.s , K)

=X ( s )

LetM = 1,F = 5, B = 4 andK= 5. Solvethis using Laplace fraction andpartial expansion.

= X(s) quadraticformula Use to factor denominator

s ( 1 . s ' + 4. s + 5)

/.t

b:= 4 c::5

'
S 1 = -2 +i

2.a

s2 s 2 =-2-i

2-a

formof function Factored 5

s . ( s + (2 r j ))'(s r (2 fraction expansion Usepartial
))

=X ( s )

5
F,^d A

Fre+tr)(so(b6 o1 J
r' ^' *l+ 'elJ
.rr<

r)-

r ,, (stx) s+ (,_{ )
\

.B

- c.

7 ffiA-Tre*("6)){= f.)) {
S:o

sr'
5

_l

Al

jrl-*--l , r --^ ) I , =o s+(z+11 s+(z-6

8s
I

Sr

(z+()(z-tr)
18 Et438a.mcd

<--:

zt+ l

Continued solution: system Mechancical

(= t )t \ .-(* \ t *[) o
L u ''t

-' L = --1i -L (-z+ j)(.i) \- '( 't

r -

Rdi'

g* * pl e X

r'fffil=JLtj-@J/ FTie
(-l L 1 ' ---19 Et438a-6.mcd

('^ ( -r[i l iS

_t_ \i ' tI

r,_1es ,,.q Conr,\ -+:'L--

Mechanical Sofution

\ +ry1 v
IN"Jocs 8.-1,o-".)tzeJJr"' n^

-(atj ) f f s I - ( z - * ) t

zFTt.f, s :,i :z+^+(t e*+ l _ z - ? l *e \

Et438a4.mcd 20

response system Plotof the mechanical + 2.sin(t)) x(t):: 1- e-2't.(cos(t) andsee decrease of system to damping -2 relates effects xt(t) : 1- e '2't'(cos(t) " 2'sin(t)) ..10 t ,=0 ,0.25

x (t)
x 1( t ) 0

21 Et438a.mcd

Transfer Functions
given InpuUoutput relationships fora mathematical model usually bytheratio of twopolynominals of thevariable s Definitions polynomial. Poles of thedenominator Values thatcause - roots transfer function magnitude to go to infinity. polynomial. Zeros - roots of thenumerator Values thatcause the transfer function to go to 0. eigenvalues responses of a system. Roots of the - Characteristic polynomial. denominator Alleigenvalues mustbe (natural negative for a system response) transient to decay out.

right holf plone le ft h olf p rqn e

X's indicate location of pole. 0 is location of zero poleis to imaginary Closer response. roots axisstower Comptex pairs appear in conjugate
et438a-7.MCDI

Examples

R(') f;
--f
input 'rl

G(s) |->

x(')
o u tp u t

Transfer Function is a "gain" as a function of

S

X ( s )=G(s ).R (s )

ffi=G(s)
f

Passive Lowpass fifter- intergrator

v ; ( r ) =R . i * (t ) I I t/l
J

i ( t )d t

u i(t)

TakeLapface V i (s )= R .l (s ) *

V;(s)
Rn

*r(s)

= l(s)

Remember V o (s )= C .s ' l (s ) 1
n. ftn-.Voltage divider formuta

C. s

So

vo(s)==;.V;(s)=
C .s

R'C's* 1

'V;(s)

et438a-7.MCD 2

Draw as a block diagram

1

RCs+ 1

RC is timeconstant of system. System has 1 poleat -1lRC andno zeros Larger RCslower response

Transfer functions of OPAMPcircuits Practical Differentiatoractive highpass filter withdifinite low frequency cutoff. Take Laplace of
components andtreatlike impedances
V,C
I

^\

vo General gainformula

= =vi l t Au (t) =,(r)

z ; ( s ) = R i .a :
Simplify Au

-z g (s ) V o (s )
-Rf

z 1 ( s )=Rf
- R1C's

Av(s)=

A u( s )=

v o(s)

1 R, * ' C .s

R ;'C ' s n 1 V; (s)

Transfer function has1 zeroat s=0 and1 poleat s = -1lRiC

et438a-7.MCD3

Transfer function for Practical Differentiator

-Rt Cs R'Cs+ 1

%(')

Block fortransfer Algebra functionsCascaded blocks connected functions Series transfer - multiply Note: do notcancel common terms fromnumerator and
X, ' ( s )
l\ t

c 1( s )

tr 2 (si

X r ( s )=R ( s ) ' G 1 ( s ) ( 1) X ( s )=G1( s ) ' c 2 ( s ) ' R ( s)

X(s ) =G 2 (s ).X1 (s )

(2 )

2(s ) \ G 5+=G 1(s ) R (s ) '

gain (1)into(2)andsimplify to getoverall Substitute

et438a-7.MCD 4

withOP AMPs Example

0.1 uF
\J1

v,,(t)
vo(t)

differentiator stage-practical rator Second integ stageFirst

ct( s)=v.r(il

V 1( s )

G z(s)= v V 1G) '

V o(s)

of TakeLaplace

use and ::Tff.ents gainformula general

-1

1 Forstage _z 1(s) z i ( s )=R i z = A v 1( s )= ;i u 1(s) c

A v 1(s )=

c 1's
-,

1's
1

to get G1(s) G Au1 Simplify 1(s)=Ri'c

-1

- RgC 2's examPle fromPrevious Gz(s) = G 2 (s ) A y (s )= 1

R1' C2' s t

v o(s)
Vi(s)

_1

- R1C 2 ' s

R;' C1 's R1'C2's+ 1

cancel signs Negative

et438a-7.MCD5

v o(s)

V;(s ) ( R 1. c 2. s + 1 )(R i .C 1 s )

R 1C 2 ' s

Simplified form

parameters

Plugin givenvalues for the component symbols and compute

Fi ,= 10000 C1 R 1 := 2 5000 Rf

0.1.10-6 1 00000

C2,=0.05.10-6 R 1'C 2= 0.001

R i 'C 1= 0. 001

Rt 'C2 =0.005

Above areall timeconstants forthesystem Final transfer function Function has1 zeroat 0.005.s = s 0 andtwopoles =1 s 1) . ( 0 .0 0 1 .s )s = -1 1 0 .0 0 V;(s) ( 0. 001. * 1000 ands=0 Parallel Blocks functions - addtransfer

v o(s)

et438a-7.MCD 6