3-1

1234567898




3.1

a) 1[ ]

0
) (
0
sin sin sin dt e t dt e t e t e
t b s st bt bt


[ ]

+
1
]
1

+ +
+

0
2 2
) (
) (
cos sin ) (
b s
t t b s
e
t b s


2 2
) ( + +

b s

b) 1 [ ]

0
) (
0
cos cos cos dt e t dt e t e t e
t b s st bt bt


[ ]

+
1
]
1

+ +
+ +

0
2 2
) (
) (
sin cos ) (
b s
t t b s
e
t b s


2 2
) ( + +
+

b s
b s




3.2


a) The Laplace transform provided is

4 6 4 3
4
) (
2 3 4
+ + + +

s s s s
s Y

We also know that only sin t is an input, where = 2 . Then

( )
2
2
2
2
) (
2 2
2
2 2
+

s
s
s
s X

Since Y(s) = D
-1
(s) X(s) where D(s) is the characteristic polynomial (when
all initial conditions are zero),

Solution Manual for Process Dynamics and Control, 2
nd
edition,
Copyright 2004 by Dale E. Seborg, Thomas F. Edgar and Duncan A. Mellichamp.
3-2
) 2 (
2
) 2 3 (
2 2
) (
2 2
+ + +

s s s
s Y

and the original ode was

t y
dt
dy
dt
y d
2 sin 2 2 2 3
2
2
+ + with 0 ) 0 ( ) 0 ( y y

b) This is a unique result.

c) The solution arguments can be found from

) 2 ( ) 2 )( 1 (
2 2 2
) (
2
+ + + +

s s s
s Y

which in partial fraction form is

2 2 1
) (
2
2 1 2 1
+
+
+
+

+
+

s
a s a
s s
s Y

Thus the solution will contain four functions of time

e
-t
, e
-2t
, sin 2 t , cos 2 t



3.3


a) Pulse width is obtained when x(t) = 0

Since x(t) = h at

t

: h at

= 0 or t

= h/a

b)
x(t) = hS(t) atS(t) + a(t -t

) S(t-t

)
x(t)
x(t)
h
slope = a
slope = -a
slope = -a
3-3
c)
2 2 2
1
) (
s
e
s
h
s
ae
s
a
s
h
s X
st st

+ +




d) Area under pulse = h t

/2



3.4


a) f(t) = 5 S(t) 4 S(t-2) S(t- 6)
) (s F = ( )
6s - 2s -
e - 4e - 5
1
s


b)

x(t) = x
1
(t) + x
2
(t) + x
3
(t) + x
4
(t)

= at a(t t
r
)S(t t
r
) a(t 2t
r
)S(t 2t
r
) + a(t 3t
r
)S(t 3t
r
)


following Eq. 3-101. Thus

X(s) = [ ]
s t s t s t
r r r
e e e
s
a
3 2
2
1

+

by utilizing the Real Translation Theorem Eq. 3-104.


x(t)
-a -a
x
2
x
3
t
r
2t
r
3t
r
x
1
x
4
a
a
3-4
3.5


T(t) = 20 S(t) +
30
55
t S(t)
30
55
(t-30) S(t-30)
( )
s s
e
s s
e
s s s
s T
30
2
30
2 2
1
1
30
55 20 1
30
55 1
30
55 20
) (

+ +



3.6

a)
4 3 2 ) 4 )( 3 )( 2 (
) 1 (
) (
3 2 1
+

+
+

+
+

+ + +
+

s s s s s s
s s
s X

1
) 4 )( 3 (
) 1 (
2
1

+ +
+

s
s s
s s


6
) 4 )( 2 (
) 1 (
3
2

+ +
+

s
s s
s s


6
) 3 )( 2 (
) 1 (
4
3

+ +
+

s
s s
s s




4
6
3
6
2
1
) (
+
+
+

s s s
s X
2 3 4
and ( ) 6 6
t t t
x t e e e

+

b)
) 2 )( 2 )( 3 )( 2 (
1
) 4 )( 3 )( 2 (
1
) (
2
j s j s s s
s
s s s
s
s X
+ + +
+

+ + +
+



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

+
+
+
+
+

+
+

8
1
) 4 )( 3 (
1
2
2
1

+ +
+

s
s s
s


13
2
) 4 )( 2 (
1
3
2
2

+ +
+

s
s s
s


208
11 3
8 40
2 1
) 2 )( 3 )( 2 (
1
2
3 3
j
j
j
j s s s
s
j
j s
+

+ +
+
+


3-5
t t e e t x
t t
2 sin
208
11
2 2 cos
208
3
2
13
2
8
1
) (
3 2

,
_

+
,
_

+ +



t t e e
t t
2 sin
104
11
2 cos
104
3
13
2
8
1
3 2
+ +




c)
2
2 1
2
) 1 ( 1 ) 1 (
4
) (
+

+
+

+
+

s s s
s
s X (1)

3 ) 4 (
1
2
+
s
s

In Eq. 1, substitute any s-1 to determine
1
. Arbitrarily using s=0, Eq. 1
gives

1 or
1
3
1 1
4
1
2
1
2
+

2
) 1 (
3
1
1
) (
+
+
+

s s
s X and 3
t t
x( t ) e te

+
d)
( )
2 2 2 2
1
4
3
2
1
1
1
1
) (
+ +

,
_

+ +

b s
s
s s
s X
1 3
where and
2 2
b

t e t e t x
t
bt
2
3
sin
3
2
sin
1
) (
2

e) X(s) =
s
e
s s s
s
5 . 0
) 3 )( 2 (
1

+ +
+


To invert, we first ignore the time delay term. Using the Heaviside
expansion with the partial fraction expansion,

3 2 ) 3 )( 2 (
1
) (

+
+
+
+
+ +
+

s
C
s
B
s
A
s s s
s
s X

Multiply by s and let s 0

3-6
A =
6
1
) 3 )( 2 (
1

Multiply by (s+2) and let s 2

B =
2
1
) 1 )( 2 (
1
) 3 2 )( 2 (
1 2

+
+


Multiply by (s+3) and let s-3

C =
3
2
) 1 )( 3 (
2
) 2 3 )( 3 (
1 3

+
+


Then

3
3 2
2
2 1 6 1
) (

+
+
+
s s s
s X

t t
e e t x
3 2
3
2
2
1
6
1
) (

+

Imposing shift theorem

) 5 . 0 ( 3 ) 5 . 0 ( 2
3
2
2
1
6
1
) 5 . 0 ( ) (

+
t t
e e t x t x

for t 0.5



3.7

a)
2
2 1
2 2
6
) 1 (
) 1 ( 6
) (
s s s s s
s
s Y

+

+
+


0 6
6
1
0
2
2
2

s
s
s

2
6
) (
s
s Y

b)
9 ) 9 (
) 2 ( 12
) (
2
3 2 1
2
+
+
+

+
+

s
s
s s s
s
s Y

3-7
Multiplying both sides by s(s
2
+9)


) )( ( ) 9 ( ) 2 ( 12
3 2
2
1
s s s s + + + + or

1 3
2
2 1
9 ) ( 24 12 + + + + s s s

Equating coefficients of like powers of s,

s
2
:
1
+
2
= 0
s
1
:
3
= 12
s
0
: 9
1
= 24

Solving simultaneously,

12 ,
3
8
,
3
8
3 2 1

9
12
3
8
1
3
8
) (
2
+

,
_

+
+
s
s
s
s Y

c)
6 5 4 ) 6 )( 5 )( 4 (
) 3 )( 2 (
) (
3 2 1
+

+
+

+
+

+ + +
+ +

s s s s s s
s s
s Y

1
) 6 )( 5 (
) 3 )( 2 (
4
1

+ +
+ +

s
s s
s s


6
) 6 )( 4 (
) 3 )( 2 (
5
2

+ +
+ +

s
s s
s s


6
) 5 )( 4 (
) 3 )( 2 (
6
3

+ +
+ +

s
s s
s s



6
6
5
6
4
1
) (
+
+
+

s s s
s Y

d)
[ ]
) 2 ( ) 2 2 (
1
) 2 ( 1 ) 1 (
1
) (
2 2 2
2
+ + +

+ + +

s s s
s s
s Y

=
2 ) 2 2 ( 2 2
5
2 2
4 3
2
2 1
+

+
+ +
+
+
+ +
+
s s s
s
s s
s


3-8
Multiplying both sides by ) 2 ( ) 2 2 (
2 2
+ + + s s s gives

1 =
1
s
4
+ 4
1
s
3
+ 6
1
s
2
+4
1
s +
2
s
3
+4
2
s
2
+6
2
s +4
2
+
3
s
2
+2
3
s

+

4
s + 2
4
+
5
s
4
+ 4
5
s
3
+ 8
5
s
2
+ 8
5
s + 4
5


Equating coefficients of like power of s,

s
4
:
1
+

5
= 0

s
3
: 4
1
+
2
+

4
5
= 0

s
2
: 6
1
+ 4
2
+
3
+ 8
5
= 0

s
1
: 4
1
+

6
2
+ 2
3
+
4
+

8
5
= 0

s
0
: 4
2
+ 2
4
+ 4
5

= 1

Solving simultaneously:


1
= -1/4
2
= 0
3
=-1/2
4
=0

5
=


2
4 / 1
) 2 2 (
2 / 1
2 2
4 / 1
) (
2 2 2
+
+
+ +

+
+ +

s s s
s
s s
s
s Y



3.8


a) From Eq. 3-100

1 ) (
1
) (
0
* *
s F
s
dt t f
t

1
]
1

we know that 1
1
]
1

t
d e
0
=
s
1
21 [ ]

e
) 1 (
1
+

s s


Laplace transforming yields

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

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

3-9
X(s) =
) 2 ( ) 1 (
2
2
+ + s s s


and x(t) = 1 2te
-t
e
-2t

b) Applying the final Value Theorem

2
) 2 ( ) 1 (
2
lim ) ( lim ) ( lim
2
0 0

+ +


s s
s sX t x
s s t


[ Note that Final Value Theorem is applicable here]



3.9

a)
) 4 )( 5 )( 4 (
) 2 ( 6
) 4 )( 20 9 (
) 2 ( 6
) (
2
+ + +
+

+ + +
+

s s s
s
s s s
s
s X

0
) 4 )( 5 (
) 2 ( 6
lim ) 0 (
2

1
]
1

+ +
+

s s
s s
x
s

0
) 4 )( 5 (
) 2 ( 6
lim ) (
2
0

1
]
1

+ +
+

s s
s s
x
s


x(t) is converging (or bounded) because [sX(s)] does not have a limit at
s = 4, and s = 5 only, i.e., it has a limit for all real values of s 0.

x(t) is smooth because the denominator of [sX(s)] is a product of real
factors only. See Fig. S3.9a.

b)
) 2 )( 2 3 ( ) 2 3 (
3 10
) 2 )( 10 6 (
3 10
) (
2
2
2
+ +

+ +

s j s j s
s
s s s
s
s X

10
) 2 )( 10 6 (
3 10
lim ) 0 (
2
3

1
]
1

+ +

s s s
s s
x
s


Application of final value theorem is not valid because [sX(s)] does not
have a limit for some real s 0, i.e., at s = 3t2j. For the same reason, x(t)
is diverging (unbounded).

x(t) is oscillatory because the denominator of [sX(s)] includes complex
factors. See Fig. S3.9b.
3-10
c)
) 3 ( ) 3 (
5 16
) 9 (
5 16
) (
2
j s j s
s
s
s
s X
+
+

+
+

16
) 9 (
5 16
lim ) 0 (
2
2

1
]
1

+
+

s
s s
x
s


Application of final value theorem is not valid because [sX(s)] does not
have a limit for real s = 0. This implies that x(t) is not diverging, since
divergence occurs only if [sX(s)] does not have a limit for some real value
of s>0.

x(t) is oscillatory because the denominator of [sX(s)] is a product of
complex factors. Since x(t) is oscillatory, it is not converging either. See
Fig. S3.9c

0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
-0.05
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
0.4
Time
x
(
t
)

Figure S3.9a. Simulation of X(s) for case a)


0 0.5 1 1.5 2 2.5
-12000
-10000
-8000
-6000
-4000
-2000
0
2000
4000
6000
8000
Time
x
(
t
)


Figure S3.9b. Simulation of X(s) for case b)
3-11

0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
-20
-15
-10
-5
0
5
10
15
20
Time
x
(
t
)

Figure S3.9c. Simulation of X(s) for case c)


The Simulink block diagram is shown below. An impulse input should be
used to obtain the functions behavior. In this case note that the impulse
input is simulated by a rectangular pulse input of very short duration. (At
time t = 0 and t =0.001 with changes of magnitude 1000 and 1000
respectively). The MATLAB command impulse might also be used.

Figure S3.9d. Simulink block diagram for cases a), b) and c).
3-12
3.10


a)
i) Y(s) =
4 ) 4 (
2
) 4 (
2
2 2 2
+
+ +
+

+ s
C
s
B
s
A
s s s s s


y(t) will contain terms of form: constant, t, e
-4t


ii) Y(s) =
3 1 ) 3 )( 1 (
2
) 3 4 (
2
2
+
+
+
+
+ +

+ + s
C
s
B
s
A
s s s s s s


y(t) will contain terms of form: constant, e
-t
, e
-3t


iii)
2 ) 2 ( ) 2 (
2
) 4 4 (
2
) (
2 2 2
+
+
+
+
+

+ +

s
C
s
B
s
A
s s s s s
s Y

y(t) will contain terms of form: constant, e
-2t
, te
-2t


iv)
) 8 4 (
2
) (
2
+ +

s s s
s Y

2 2 2 2
2 ) 2 ( ) 4 8 ( ) 4 4 ( 8 4 + + + + + + + s s s s s
] 2 ) 2 [(
2
) (
2 2
+ +

s s
s Y

y(t) will contain terms of form: constant, e
-2t
sin2t, e
-2t
cos2t

b)
2 2 2 2 2 2 2
2 2 ) 2 (
) 1 ( 2
) 4 (
) 1 ( 2
) (
+
+
+
+
+
+

+
+

s
C
s
Bs
s
A
s s
s
s s
s
s Y
A =
2
1
) 4 (
) 1 ( 2
lim
2
0

+
+

s
s
s


2(s+1) = A(s
2
+4) + Bs(s) + Cs
2s+2 = As
2
+ 4A + Bs
2
+ Cs

Equating coefficients on like powers of s
s
2
: 0 = A + B B = A =
2
1

s
1
: 2 = C C = 2
s
0
: 2 = 4A A =
2
1

3-13
Y(s)
2 2 2 2
2
2
2
) 2 1 ( 2 1
+
+
+

+
s s
s
s


y(t) = t t 2 sin
2
2
2 cos
2
1
2
1
+

y(t) = t t 2 sin ) 2 cos 1 (
2
1
+


3.11


Since convergent and oscillatory behavior does not depend on initial
conditions, assume 0 ) 0 (
) 0 ( ) 0 (
2
2
x
dt
dx
dt
dx

a) Laplace transform of the equation gives

3 2
3
( ) 2 ( ) 2 ( ) ( ) s X s s X s sX s X s
s
+ + +
)
2
3
2
1
)(
2
3
2
1
)( 1 (
3
) 1 2 2 (
3
) (
2 3
j s j s s s
s s s s
s X
+ + + +

+ + +

Denominator of [sX(s)] contains complex factors so that x(t) is oscillatory,
and denominator vanishes at real values of s= 1 and - which are all <0
so that x(t) is convergent. See Fig. S3.11a.
b)
1
2
) ( ) (
2

s
s X s X s
) 1 ( ) 1 (
2
) 1 )( 1 (
2
) (
2 2
+

s s s s
s X

The denominator contains no complex factors; x(t) is not oscillatory.
The denominator vanishes at s=1 0; x(t) is divergent. See Fig. S3.11b.

c)
1
1
) ( ) (
2
3
+
+
s
s X s X s
)
2
3
2
1
)(
2
3
2
1
)( 1 )( )( (
1
) 1 )( 1 (
1
) (
3 2
j s j s s j s j s
s s
s X
+ + +

+ +

The denominator contains complex factors; x(t) is oscillatory.
The denominator vanishes at real s = 0, ; x(t) is not convergent. See Fig.
S3.11c.
3-14
d)
s
s sX s X s
4
) ( ) (
2
+
) 1 (
4
) (
4
) (
2 2
+

s s s s s
s X

The denominator of [sX(s)] contains no complex factors; x(t) is not
oscillatory.
The denominator of [sX(s)] vanishes at s = 0; x(t) is not convergent. See
Fig. S3.11d.

0 1 2 3 4 5 6 7 8 9 10
-0.5
0
0.5
1
1.5
2
2.5
3
3.5
time
x
(
t
)

Figure S3.11a. Simulation of X(s) for case a)

0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
0
100
200
300
400
500
600
700
time
x
(
t
)

Figure S3.11b. Simulation of X(s) for case b)
3-15
0 1 2 3 4 5 6 7 8 9 10
-40
-20
0
20
40
60
80
time
x
(
t
)

Figure S3.11c. Simulation of X(s) for case c)

0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
0
2
4
6
8
10
12
14
16
18
time
x
(
t
)


Figure S3.11d. Simulation of X(s) for case d)


3.12


Since the time function in the solution is not a function of initial
conditions, we Laplace Transform with

0
) 0 (
) 0 (
dt
dx
x


1

2
s
2
X(s) + (
1
+
2
)sX(s) + X(s) = KU(s)
3-16
) (
1 ) (
) (
2 1
2
2 1
s U
s s
K
s X
+ + +


Factoring denominator

) (
) 1 )( 1 (
) (
2 1
s U
s s
K
s X
+ +


a) If u(t) = a S(t) then U(s)=
s
a


) 1 )( 1 (
) (
2 1
+ +

s s s
Ka
s X
a

2 1


x
a
(t) = f
a
( S(t), e
-t/
1
, e
t/
2
)

b) If u(t) = be
-t/
then U(s) =
1 +

s
b


) 1 )( 1 )( 1 (
) (
2 1
+ + +

s s s
Kb
s X
b

2 1


x
b
(t) = f
b
(e
-t/
, e
-t/
1
, e
t/
2
)


c) If u(t) =ce
-t/
where =
1
, then U(s) =
1
1
+

s
c

) 1 ( ) 1 (
) (
2
2
1
+ +

s s
Kc
s X
c


x
c
(t) = f
c
(e
t/
1
, t e
t/
1
, e
t/
2
)

d) If u(t) = d sin t then U(s) =
2 2
+

s
d



) 1 )( 1 )( (
) (
2 1
2 2
+ + +

s s s
Kd
s X
d


x
d
(t) = f
d
(e
t/
1
, e
t/
2
, sin t, cos t)



3-17
3.13

a)
3 2
3 2
(0) (0)
4 with (0) 0
t
dx d x dx
x e x
dt dt dt
+

Laplace transform of the equation,


1
1
4

+
s
X(s) X(s) s
3



) 37 . 1 79 . 0 )( 37 . 1 79 . 0 )( 59 . 1 )( 1 (
1
) 4 )( 1 (
1
) (
3
j s j s s s s s
s X
+ +

+



j s
j
j s
j
s s 37 . 1 79 . 0 37 . 1 79 . 0 59 . 1 1
3 3 3 3 2 1


+
+
+
+
+

5
1
) 4 (
1
1
3
1

+

s
s


6 . 19
1
) 37 . 1 79 . 0 )( 37 . 1 79 . 0 )( 1 (
1
59 . 1
2

+

s
j s j s s

j
j s s s
j
j s
59 . 0 74 . 0
) 37 . 1 79 . 0 )( 59 . 1 )( 1 (
1
37 . 1 79 . 0
3 3

+
+



X(s)
j s
j
j s
j
s s 37 . 1 79 . 0
059 . 0 074 . 0
37 . 1 79 . 0
059 . 0 074 . 0
59 . 1
6 . 19
1
1
5
1

+
+
+

+
+

) 37 . 1 sin 059 . 0 37 . 1 cos 074 . 0 ( 2
6 . 19
1
5
1
) (
79 . 0 59 . 1
t t e e e t x
t t t
+


b) 12 sin3 with (0) 0
dx
x t x
dt



9
3
12 (s)
2
+

s
X(s) sX


) 12 )( 3 )( 3 (
3
) 12 )( 9 (
3
) (
2
+

s j s j s s s
s X


12 3 3
3 1 1 1 1

+
+
+

s j s
j
j s
j

3-18
j
j s j s
j
j s
102
4
102
1
72 18
3
) 12 )( 3 (
3
3
1 1

+

+




3 2
12
3 1
9 51
s
( s )

+



12
51
1
3
102
4
102
1
3
102
4
102
1
) (

+
+
+

s j s
j
j s
j
s X


t
e t t t x
12
51
1
) 3 sin 4 3 (cos
51
1
) ( + +

c)
2
2
(0)
6 25 with (0) 0
t
d x dx dx
x e x
dt dt dt

+ +

2
2
1 1
6 25 or
1 1 6 25
s X( s ) sX( s ) X( s ) X( s ) X( s )
s ( s )( s s )
+ + +
+ + + +

j s
j
j s
j
s j s j s s
s X
4 3 4 3 1 ) 4 3 )( 4 3 )( 1 (
1
) (
2 2 2 2 1
+

+
+ +
+
+
+

+ + + +

20
1
) 25 6 (
1
1
2
1

+ +

s
s s


j
j s s
j
j s
80
1
40
1
) 4 3 )( 1 (
1
4 3
2 2

+ +
+




j s
j
j s
j
s
s X
4 3
80
1
40
1
4 3
80
1
40
1
1
20
1
) (
+

+
+ +

+
+


) 4 sin
40
1
4 cos
20
1
(
20
1
) (
3
t t e e t x
t t
+



d) Laplace transforming (assuming initial conditions = 0, since they do not
affect results)

sY
1
(s) + Y
2
(s) = X
1
(s) (1)

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

3-19
From (2),

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

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


Substitute in Eq.1

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

We neglect X
2
(s) since it is equal to zero.

[ ] ) ( ) 3 ( ) ( 2 ) 3 (
1 1
s X s s Y s s + + +

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

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

+ +
+


Now if x
1
(t) = e
-t
then X
1
(s) =
1
1
+ s


2 ) 1 ( ) 1 ( ) 2 ( ) 1 (
3
) (
2 2
1
+
+
+
+
+

+ +
+

s
C
s
B
s
A
s s
s
s Y

so that y
1
(t) will contain e
-t/
, te
-t/
, e
2t
functions of time.

For Y
2
(s)


2 ) 1 ( ) 1 ( ) 2 ( ) 1 (
2
) (
2 2
2
+
+
+
+
+

+ +

s
C
s
B
s
A
s s
s Y

so that y
2
(t) will contain the same functions of time as y
1
(t) (although
different coefficients).









3-20
3.14

) 2 (
) 2 (
4 ) (
) (
3
) (
2
2

+ + t x
dt
x d
t y
dt
t dy
dt
t y d


Taking the Laplace transform and assuming zero initial conditions,

s
2
Y(s) + 3sY(s) + Y(s) = 4 e
-2s
sX(s) e
-2s
X(s)

Rearranging,


1 3
) 4 1 (
) (
) (
) (
2
2
+ +

s s
e s
s G
s X
s Y
s
(1)

a) The standard form of the denominator is :
2
s
2
+ 2s + 1

From (1) , = 1 , = 1.5

Thus the system will exhibit overdamped and non-oscillatory response.

b) Steady-state gain

1 ) ( lim
0

s G K
s
(from (1))

c) For a step change in x
X(s) =
s
5 . 1
and Y(s) =
s s s
e s
s
5 . 1
) 1 3 (
) 4 1 (
2
2
+ +




Therefore ) ( t y = 1.5 + 1.5e
-1.5t
cosh(1.11t) + 7.38e
-1.5t
sinh(1.11t)
Using MATLAB-Simulink, y(t)= ) 2 ( t y is shown in Fig. S3.14

0 5 10 15 20 25 30
-1.5
-1
-0.5
0
0.5
1
1.5

Figure S3.14. Output variable for a step change in x of magnitude 1.5
3-21
3.15


) / 1 ( ) ( ) ( h t hS t hS t f
[ ] ) / 1 ( ) ( 4 h t S t S h x
dt
dx
+ , x(0)=0

Take Laplace transform,

,
_

s
e
s
h s X s sX
h s /
1
) ( 4 ) (

1
]
1

+


4
) 1 (
) 4 (
1
) 1 ( ) (
2 1 / /
s s
e h
s s
e h s X
h s h s


4
1
4
1
0
1

+

s
s
,
4
1 1
4
2

s
s



1
]
1

+


4
1 1
) 1 (
4
) (
/
s s
e
h
s X
h s



1
]
1

+
+
+


4 4
1 1
4
/ /
s
e
s s
e
s
h
h s h s


0 t <0
) (t x ) 1 (
4
4t
e
h

0 < t < 1/h
[ ]
t h t
e e
h
4 ) / 1 ( 4
4

t > 1/h
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
time
x
(
t
)
h=1
h=10
h=100

Figure S3.15. Solution for values h= 1, 10 and 100
3-22
3.16


a) Laplace transforming

[ ] [ ]
1
) ( 9 ) 0 ( ) ( 6 ) 0 ( ) 0 ( ) (
2
2
+
+ +
s
s
s Y y s sY y sy s Y s

(s
2
+ 6s + 9)Y(s) s(1) 2 (6)(1)=
1
2
+ s
s


(s
2
+ 6s + 9)Y(s) =
1
2
+ s
s
+ s + 8

(s
2
+ 6s + 9)Y(s) =
1
8 8
2
2 3
+
+ + + +
s
s s s s


Y(s) =
) 1 ( ) 3 (
8 2 8
2 2
2 3
+ +
+ + +
s s
s s s


To find y(t) we have to expand Y(s) into its partial fractions


1 1 3 ) 3 (
) (
2 2 2
+
+
+
+
+
+
+

s
D
s
Cs
s
B
s
A
s Y

y(t) = Ate
-3t
+ Be
-3t
+ C cost + D sint


b) Y(s)=
) 8 4 (
1
2
+ +
+
s s s
s


Since 8
4
4
2
< we know we will have complex factors.

complete square in denominator

s
2
+ 4s + 8 = s
2
+ 4s + 4 + 84

= s
2
+ 4s + 4 + 4 = (s+2)
2
+ (2)
2
{ b = 2 , =2}

Partial fraction expansion gives

3-23
) 8 4 (
1
8 4 8 4
) 2 (
) (
2 2 2
+ +
+

+ +
+
+ +
+
+
s s s
s
s s
C
s s
s B
s
A
s Y

Multiply by s and let s0

A=1/8


Multiply by s(s
2
+4s+8)

A(s
2
+4s+8) + B(s+2)s + Cs = s + 1

As
2
+ 4As + 8A + Bs
2
+ 2Bs + Cs = s + 1


s
2
: A + B = 0 B = A =
8
1

s
1
: 4A + 2B + C = 1 C = 1 + 2

,
_

8
1
4

,
_

8
1
=
4
3

s
0
: 8A = 1 A =
8
1
(This checks with above result)


( )
2 2 2 2
2 ) 2 (
4 / 3
2 ) 2 (
) 2 ( 8 / 1 8 / 1
) (
+ +
+
+ +
+
+
s s
s
s
s Y

y(t) =

,
_

8
1

,
_

8
1
e
-2t
cos 2t +

,
_

8
3
e
-2t
sin 2t



3.17


V
i
qC qC
dt
dC
+

Since V and q are constant, we can Laplace Transform

sVC(s) + qC(s) = q C
i
(s)

Note that c(t = 0) = 0

Also, c
i
(t) = 0 , t 0
c
i
(t) =
i
c , t > 0
3-24

Laplace transforming the input function, a constant,


s
c
s C
i
i
) (
so that
sVC(s) + qC(s) = q
s
c
i
or C(s) =
s q sV
c q
i
) ( +


Dividing numerator and denominator by q

C(s) =
s s
q
V
c
i

,
_

+1


Use Transform pair #3 in Table 3.1 to invert ( =V/q)

c(t) =
i
c

,
_

t
q
V
e 1

Using MATLAB, the concentration response is shown in Fig. S3.17.
(Consider V = 2 m
3
, C
i
=50 Kg/m
3
and q = 0.4 m
3
/min)



0 5 10 15 20 25 30
0
5
10
15
20
25
30
35
40
45
50
Time
c
(
t
)

Figure S3.17. Concentration response of the reactor effluent stream.


3-25
3.18

a) If Y(s) =
) (
2 2
+

s s
KA

and input U(s) =
) (
2 2
+

s
A
= 1 {A sin t}

then the differential equation had to be

) (t Ku
dt
dy
with y(0) = 0

b) Y(s) =
) (
2 2
+

s s
KA
=
2 2
3
2 2
2 1
+

+
+

s s
s
s

KA
s
KA
s 0
2 2
1


Find
2
and
3
by equating coefficients

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

KA =
1
s
2
+
1

2
+
2
s
2
+
3
s
s
2
: 0 =
1
+
2

2
=
1
=

KA


s: 0 =
3

3
= 0


Y(s) =
) (
2 2
+

s s
KA
=
2 2
) / ( /
+

s
s KA
s
KA

y(t) = ) cos 1 ( t
KA

3-26
c)
A
-A
0
Time
y(t)
u(t)
2KA/


i) We see that y(t) follows behind u(t) by 1/4 cycle = 2/4= /2 rad.
which is constant for all

ii) The amplitudes of the two sinusoidal quantities are:

y : KA/
u: A

Thus their ratio is K/, which is a function of frequency.