Chapter 5

Second-order Linear Models

 5.1
Spring-Mass System
Spring-Mass System
Unstretched Equilibrium free motion
unstretched positionposition
equilibrium free motion

s
Fs
x=0
m
positive x
direction Fg Fs

Fg
(a) an unloaded (b) the system (c) the system
spring at rest in motion
Spring-Mass System
Hooke’s Law

Fs  ks

Gravitational force

Fg  mg

At rest (equilibrium):

 F  0  Fg  Fs  0
mg  ks  0
mg  ks
 5.1.1 Spring-Mass System in Free Motion
Hooke’s Law

Fs  k ( s  x )

- Gravitational force

at rest s
Fg  mg
(x = 0)
In motion:

 F  ma
Equilibrium
position
5.1.1 Spring-Mass System in Free Motion
 F  ma
d 2x
Fg  Fs  m
dt 2
d 2x
mg  k ( s  x )  m
dt 2
d 2x
mg  ks  kx  m , but mg  ks
2
dt
d 2x
m  kx  0
dt 2
d 2x k
 x0 Simple harmonic motion
2 m
dt
5.1.2 Spring-Mass System in Free Damped Motion

No Damping With Damping

Hooke’s Law
force force
Fs  k ( s  x )

Gravitational force

Fg  mg
s
Damping force
at rest
(x = 0) dx
x
Fd   
dt
 is the damping constant (damping coefficient)
5.1.2 Spring-Mass System in Free Damped Motion

d 2x
 F  ma  Fg  Fs  Fd  m
dt 2
dx d 2x
mg  k ( s  x )   m
dt dt 2
dx d 2x
mg  ks  kx   m
dt dt 2
dx d 2x d 2x dx
kx   m m   kx  0
dt 2 2 dt
dt dt
d 2x  dx k
  x0
2 m dt m
dt
5.1.3 Spring-Mass System: Driven Motion
d 2x
 F  ma  Fg  Fs  Fd  f (t )  m
dt 2
dx d 2x
mg  k ( s  x )    f (t )  m
dt dt 2
dx d 2x
mg  ks  kx    f (t )  m
dt dt 2
dx d 2x d 2x dx
kx    f (t )  m m   kx  f (t )
dt 2 2 dt
dt dt
d 2x  dx k f (t )
  x
2 m dt m m
dt
In general, a motion of spring/mass system can be
described in the form of:

d 2x  dx
k f (t )
  x
2 m dt m m
dt
where:
β is a damping coefficient,
m is a mass,
k is spring constant
f(t) is an external force.
First Initial Condition for Spring-Mass System

d 2x  dx k f (t )
  x
2 m dt m m
dt
• If mass is released from the equilibrium position, then
x( 0 )  0

• If mass is released from a point below the equilibrium

position, then
x( 0 )  0

• If mass is released from a point above the equilibrium

position, then x( 0 )  0
Second Initial Condition for Spring-Mass System

d 2x  dx k f (t )
  x
2 m dt m m
dt
• If mass is released from rest, then
x(0)  0
• If mass is released with a downward velocity, then
x(0)  0
• If mass is released with an upward velocity, then
x( 0)  0
 5.2
Series Circuit Analogue
LRC Series circuit

According to Kirchhoff’s second law, the sum of the voltage drop across
the inductor, resistor and capacitor is the same as the impressed
voltage, E(t) on the circuit.
di 1
L  Ri  q  E (t )
dt C
 LRC Series circuit

di 1
L  Ri  q  E (t )
dt C

dq
By replacing i (t )  ;
dt

d 2q dq 1
L  R  q  E (t )
dt dt C