The Johns Hopkins University 520.

353 - Control Systems

Electrical & Computer Engineering Department Fall 2009

Homework #2

This homework consists of 3 problems. Please show how you arrived at your solution in full detail!

1. In this problem, we will explore some of the properties of the convolution operation:

(a) Show that the operation is distributive over addition, that is f ∗ (g + h) = f ∗ g + f ∗ h.

(b) Show that the operation is commutative, that is f ∗ g = g ∗ f .
t R
(c) Show that x ∗ u = −∞ x(τ )dτ , where u(t) is the Heaviside (or unit step) function. Using
this property, can you now relate the step and impulse responses of an LTI system?
(d) Show that x(t) ∗ δ(t − t0 ) = x(t − t0 ). This is sometimes referred to as the “sifting property”
of the convolution operation.

2. For each of the following systems with input u and output y, answer the questions: Is the system
memoryless? linear? time-invariant? causal? finite order? Please show or describe your reasoning.

(a) y(t) = sin(t)u(t).

(b) y(t) = cos(3u(t)).
(c) y(s) = e−s u(s).
Z ∞
(d) y(t) = e−|t−s| u(s)ds.
−∞

3. Consider the mechanical system shown in Figure 2.36 on page 64 of your textbook.

(a) Starting from the basic laws of physics, derive an ODE model describing the system (i.e.
the system’s equations of motion). [You can assume a velocity dependent dynamic friction
model with coefficient of friction b0 between mass M and the ground surface, i.e. friction
equals the product of b0 ẏ. You don’t need to model the wheel dynamics].
(b) Find the transfer function T1 from input u to output y.
(c) Find the transfer function T2 from input u to output x.
(d) Compute the zeroes of each of these two transfer functions and plot them in the complex
plane as a function of the system parameters.

1 Prepared by Danielle C. Tarraf

Last updated on September 15, 2009
The Johns Hopkins University 520.353 - Control Systems
Electrical & Computer Engineering Department Fall 2009

(e) For this and the following parts, you can assume M = m = 1, b = b0 = 2 and k = 4.
Compute the poles of T1 and T2 and plot them in the complex plane.
(f) Compute the impulse response from u to y.
(g) Compute the steady state values of the impulse and unit responses from u to x.

2 Prepared by Danielle C. Tarraf

Last updated on September 15, 2009