Total Response of Continuous Time LTI Systems - Complex Exponential Inputs - Part II

Signals and Systems
EECE340
Total Response of Continuous Time LTI

Systems: Complex Exponential Inputs
Recall from example
• Given a CT LTI system described by :
d 2i L ( t ) diL (t ) iL (0)  0 i ' L ( 0)  1

2
5  6iL (t )  6is (t )
dt dt
input 𝑖𝑠 𝑡 = 𝑒 𝑝𝑜𝑡 𝑢(𝑡) 𝑝𝑜 = 𝜎𝑜 + 𝑗𝜔𝑜
6 (𝑠 + 5) 1
𝐼𝐿 𝑠 = 𝐼𝑠 𝑠 + 𝑖𝐿 0 + 𝑖𝐿′ 0
𝑠+2 𝑠+3 𝑠+2 𝑠+3 𝑠+2 𝑠+3
6 6
iL (t )  H ( s ) s  p e pot  e 3t  e  2t −𝑒 −3𝑡 + 𝑒 −2𝑡
o po  3 po  2
𝑖𝐿 𝑡 = 𝐻 𝑠 = 𝜎𝑜 + 𝑗𝜔𝑜 𝑒 𝜎𝑜𝑡 𝑒 𝑗𝜔𝑜𝑡 + 𝛼𝑒 −3𝑡 + 𝛽𝑒 −2𝑡 𝑡 ≥ 0

EECE340 Signals and Systems 2
Total Response of a CT LTI system
• For a CT LTI system whose dynamics satisfy:

dny d n 1 y dy d mx d m 1 x dx
an n
 a n 1 n 1
   a1  a o y ( t )  bm m
 bm 1 m 1
  b1  bo x (t )
dt dt dt dt dt dt
𝑥 𝑡 = 𝑒 𝑝𝑜𝑡 𝑢(𝑡)
Laplace transform leads to :
a s   
n 1
n
n
 an 1s n 1
   a1s  ao Y ( s )  bm s  bm 1s
m m 1
  b1s  bo X ( s )   N i ( s ) y ( n ) (0  )
i 0
 
D(s) N(s)
(𝑥 0− ≡ 0)
n 1
N ( s) N ( s) (n ) 
Y ( s)  X ( s)   i y (0 )
D( s) i 0 D( s )
n 1
N ( s) N ( s) (n ) 
Y ( s)  X ( s)   i y (0 )
D( s) i 0 D ( s )
Y ( s )  YZSR ( s )  YZIR ( s )
n 1
Y ( s)  H ( s) X ( s)   H ( n ) ( s ) y ( n ) (0  )
i 0
The map between input and the output is

m
N ( s)
 bk s k N ( s)
H ( s)   k 0 
D( s) n ( s  p1 )..( s  pn )
 ak s k
k 0
This map between the 𝑖 𝑡ℎ initial condition and the output is
N i ( s) N i ( s)
H (i ) ( s )  
D( s ) ( s  p1 )( s  p2 )  ( s  pn )

A. For input alone :
m
 k
b s k
N ( s) N ( s)
k 0
H ( s)   
n
D ( s ) ( s  p1 )..( s  pn )
 ak s k
k 0
A N ( s) A
YZSR ( s )  H ( s ) X ( s )  H ( s ).  .
s  po ( s  p1 )( s  p2 )  ( s  pn ) ( s  po )
y ZSR (t )  H ( s  po ) Ae
po t
u(t )  1e p1t   2 e p2t     n e pn t t0

transients
due to input

B. For initial conditions alone:
YZIR ( s )  H ( o ) ( s ) y (0)  H (1) ( s ) y ' (0)   H ( n 1) ( s ) y ( n 1) (0)
N i ( s) N i ( s)
H (i ) ( s )   i  0,1,, n  1
D( s ) ( s  p1 )  ( s  pn )
y ZIR (t )  1e p1t   2 e p2t     n e pn t t0


transients due
to initial conditions
Roots of 𝐷 𝑠 = 𝑠 − 𝑝1 𝑠 − 𝑝2 … 𝑠 − 𝑝𝑛 = 0 are common poles of

𝐻(𝑠) and 𝐻 𝑖 𝑠 , therefor dictate the transients of the system

𝑦 𝑡 = 𝑦𝑍𝑆𝑅 𝑡 + 𝑦𝑍𝐼𝑅 𝑡
y (t )  H ( s  po ) Ae
po t
u(t )  1e p1t   2 e p2t     n e pn t
transients  1e p1t   2 e p2t     n e pn t t0
• Transients are inherent natural response of the system: fixed character

regardless if system is driven by exogenous inputs or by internally stored
energy.
• Note that 𝑝1 , 𝑝2 , … , 𝑝𝑛 are the poles of 𝐻 𝑠 .
• In general, poles can be complex 𝑝𝑖 = 𝜎𝑖 + 𝑗𝜔𝑖
• Transient terms are of the form e𝑝𝑖 𝑡 = 𝑒 𝜎𝑖 𝑡 𝑒 𝑗𝜔𝑖 𝑡
• For the all the transients to decay to zero for 𝑡 ≫ 0, we require

Re{ pi }   i  0 i  1 n
𝑦 𝑡 = 𝑦𝑍𝑆𝑅 𝑡 + 𝑦𝑍𝐼𝑅 𝑡
y (t )  H ( s  po ) Ae
po t
u(t )  1e p1t   2 e p2t     n e pn t
transients  1e p1t   2 e p2t     n e pn t t0
• If some of the poles are repeated, e.g. 𝑝3 ℎ𝑎𝑠 𝑎 𝑚𝑢𝑙𝑡𝑖𝑝𝑙𝑖𝑐𝑡𝑦 𝑜𝑓 𝑛3 , then

the transients will have terms of the form
𝑒 𝑝3𝑡 , 𝑡𝑒 𝑝3𝑡 , …, 𝑡 𝑛3 −1 𝑒 𝑝3𝑡
• Transients will still decay to zero for 𝑡 ≫ 0, as long as
Re{ pi }   i  0 i  1 n
that is, all poles located in the left-hand complex plane

• For pure sinusoidal inputs 𝑥 𝑡 = 𝐴 cos 𝜔𝑜 𝑡 𝑡 ≥ 0 ,
𝑛 𝑛
𝑦 𝑡 = H ( s  jo ) cos(o t  H ( s  jo )) + ෍ 𝛼𝑘 𝑒 𝑝𝑘 𝑡 + ෍ 𝛽𝑘 𝑒 𝑝𝑘 𝑡

𝑘=1 𝑘=1
with the steady state response (assuming transients decay)
y ss (t )  H ( jo ) cos(o t  H ( jo )) H ( jo )  H ( s ) s  j

o
• Evaluating the CT transfer function 𝐻(𝑠) on the j𝜔 axis at 𝜔 = 𝜔𝑜

gives the steady state gain (amplification or attenuation) and the
phase (time delay or advance ) for sinusoids at that frequency

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Total Response of Continuous Time LTI Systems - Complex Exponential Inputs - Part II

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Signals and Systems

Total Response of Continuous Time LTI

d 2i L ( t ) diL (t ) iL (0)  0 i ' L ( 0)  1

𝑖𝐿 𝑡 = 𝐻 𝑠 = 𝜎𝑜 + 𝑗𝜔𝑜 𝑒 𝜎𝑜𝑡 𝑒 𝑗𝜔𝑜𝑡 + 𝛼𝑒 −3𝑡 + 𝛽𝑒 −2𝑡 𝑡 ≥ 0

• For a CT LTI system whose dynamics satisfy:

The map between input and the output is

EECE340 Signals and Systems 4

EECE340 Signals and Systems 5

YZIR ( s )  H ( o ) ( s ) y (0)  H (1) ( s ) y ' (0)   H ( n 1) ( s ) y ( n 1) (0)

y ZIR (t )  1e p1t   2 e p2t     n e pn t t0

Roots of 𝐷 𝑠 = 𝑠 − 𝑝1 𝑠 − 𝑝2 … 𝑠 − 𝑝𝑛 = 0 are common poles of

EECE340 Signals and Systems 6

transients  1e p1t   2 e p2t     n e pn t t0

• Transients are inherent natural response of the system: fixed character

• Note that 𝑝1 , 𝑝2 , … , 𝑝𝑛 are the poles of 𝐻 𝑠 .

• In general, poles can be complex 𝑝𝑖 = 𝜎𝑖 + 𝑗𝜔𝑖

• Transient terms are of the form e𝑝𝑖 𝑡 = 𝑒 𝜎𝑖 𝑡 𝑒 𝑗𝜔𝑖 𝑡

• For the all the transients to decay to zero for 𝑡 ≫ 0, we require

transients  1e p1t   2 e p2t     n e pn t t0

• If some of the poles are repeated, e.g. 𝑝3 ℎ𝑎𝑠 𝑎 𝑚𝑢𝑙𝑡𝑖𝑝𝑙𝑖𝑐𝑡𝑦 𝑜𝑓 𝑛3 , then

𝑒 𝑝3𝑡 , 𝑡𝑒 𝑝3𝑡 , …, 𝑡 𝑛3 −1 𝑒 𝑝3𝑡

• Transients will still decay to zero for 𝑡 ≫ 0, as long as

that is, all poles located in the left-hand complex plane

EECE340 Signals and Systems 8

𝑦 𝑡 = H ( s  jo ) cos(o t  H ( s  jo )) + ෍ 𝛼𝑘 𝑒 𝑝𝑘 𝑡 + ෍ 𝛽𝑘 𝑒 𝑝𝑘 𝑡

with the steady state response (assuming transients decay)

y ss (t )  H ( jo ) cos(o t  H ( jo )) H ( jo )  H ( s ) s  j

• Evaluating the CT transfer function 𝐻(𝑠) on the j𝜔 axis at 𝜔 = 𝜔𝑜

EECE340 Signals and Systems 9

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