ES205 Analysis and Design of Engineering System:

Lecture 25: 1
st
Order Response to Harmonic nput:
!oday and !omorro":
1# Harmonic inputs
f(t) = A cos(
f
t + )
or
f(t) = A sin(
f
t + )
or
f(t) = A
1
cos(
f
t) + A
2
sin(
f
t)
2# Response of a 1
st
order system to $armonic input:
!ransient and Steady State
!o: f(t) = A cos(
f
t + )

2
2
( sin( ) cos( ))
( ) cos( )
1 ( )
1 ( )
t
f
o f
f
f
KA
KA
x t x e t

_
+ + + +


+
+
,
!o: f(t) = A sin(
f
t + )

2
2
( cos( ) sin( ))
( ) sin( )
1 ( )
1 ( )
t
f
o f
f
f
KA
KA
x t x e t

_
+ + + +


+
+
,


%# Response of a 2
nd
order system to $armonic input:
!ransient and Steady State


2 2
( 1) ( 1)
1 2
( ) cos( )
n n
t t
f
x t C e C e MF A t


+
+ + +
with and

2
2 2
1 2
f f
n n
K
MF

_
_ _
+


, ,
,

1
2
2
tan
1
f
n
f
n

_



,

' ;
_

,
&# '$asor Representation:


2 2 1
tan ( / ) C A iB A B B A

+ +
ES205: Analysis and Design of Engineering Systems:
Lesson 25: Harmonic Response "it$ 1st order DE
What type of response occurs if the drive term of a differential equation is a sinusoidal function
( ) cos( )
f
dx
x K f t K A t
dt
+
!he drive term is no lon"er a constant value# $owever we can still thin% of the model response
as &ein" composed of &oth a transient response and a steady state response# 't(s )ust that the
steady state response is not a constant response#
'n fact* the steady state response will end up havin" the same frequency as the drive function* &ut
may have a different amplitude and phase#
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+et(s see how well ,aple can handle this %ind of differential equation model:
- ode1:=tau*diff(x(t),t)+x(t)=K*A*cos(omega[f]*t);
:= ode1 +

_
,

t
( ) . t ( ) . t K A ( ) cos
f
t
- sol1:=dsolve({ode1,x(0)=x[0]},x(t));
:= sol1 ( ) . t +
e

_
,

( ) K A x
/
x
/

f
2

2
+ 1
f
2

2
K A ( ) + ( ) cos
f
t
f
( ) sin
f
t
+ 1
f
2

2
- s1:=comi!e(sol1);
:= s1 ( ) . t
+ + + + e

_
,

K A e

_
,

x
/
e

_
,

x
/

f
2

2
K A ( ) cos
f
t K A
f
( ) sin
f
t
+ 1
f
2

2
- collect(s1,[ex",x[0],A,K]);
( ) . t +

_
,

x
/
K A
+ 1
f
2

2
e

_
,

K A ( ) + ( ) cos
f
t
f
( ) sin
f
t
+ 1
f
2

2
!he result of this ,aple code was the equation:

( ) . t +

_
,

x
/
K A
+ 1
f
2

2
e

_
,

K A ( ) + ( ) cos
f
t
f
( ) sin
f
t
+ 1
f
2

2
= x(t)
transient
+ x(t)
steady0state
!he first term is the transient response# 't represents an e.ponential decay from the initial
condition and quic%ly dies off to 1ero* leavin" only the steady2state response#
!he second term is the steady2state solution# 't represents the lon" term response of the system
after the transient has died out# 3or a harmonic drive term* this "ives a harmonic output#
$owever* the form of the steady2state response shown a&ove is not "enerally considered the
most convenient form of the solution# 4se of tri"onometric identities can allow us to repose it in
the form of
x(t)
steady0state
=
cos( )
f
B t +
where B is the steady state response amplitude

f
is the steady state response an"ular frequency
and

is the phase an"le &etween the steady state response and drive function#
5ecall the !ri"onometric identity:

cos( ) cos( )cos sin( )sin
f f f
B t B t B t +
!hen equatin" the term from the steady state response to our preferred form "ives

sin( ) cos( ) cos( )
f f f f
t t B t + +

sin( ) cos( ) cos( )cos sin( )sin
f f f f f
t t B t B t +
[ ] [ ] sin( ) 617cos( ) sin sin( ) cos cos( )
f f f f f
t t B t B t 1 + +
]
8omparin" li%e terms:
cos(
f

t) : 1 = B cos

sin(
f

t) : 9
f

= -B sin

:ince

2 2 2 2
( cos( )) ( sin( )) 1 ( )
f
B B B + +
then

2
1 ( )
f
B +
and since

sin( )
tan( )
cos( ) 1
f
B
B

tan( )
f

!herefore* the steady state response can &e rewritten as
x(t)
steady_state
=
2
cos( )
1 ( )
f
f
K A
B t

+
+
with
2
1 ( )
f
B +
and
1
tan ( )
f

8om&inin" these and puttin" them &ac% in the complete response equation "ives:

2
2
( ) cos( )
1 ( )
1 ( )
t
o f
f
f
K A K
x t x e A t

_
+ +


+
+
,

transient response steady state response
!his equation a&ove is the form of the first order harmonic solution you should &ecome familiar
with# ;oints to notice:
1) !he steady2state response has the same frequency*
f
* as the drive function#

2) !he steady2state response amplitude is different than the input amplitude#
'nput amplitude: A
input
=A 5esponse amplitude: A
response0::=

2
1 ( )
f
K A
+
!he ratio of the response steady2state amplitude to the input amplitude may &e
called the ma"nification factor* MF#

response0::
2
input 1 ( )
f
K
MF

+
A
A
't "ives the amplification or attenuation of the input si"nal as it passes throu"h the system#

<) !he steady state response is out2of2phase with the drive function input &y
phase an"le#

1
tan ( )
f

3or 1
st
order systems* this is always ne"ative (called a la""in" phase an"le#)
3or low frequency inputs:
/ de"
3or hi"h frequency inputs:
=/ de"

>) 3or continuous si"nals* the transient response is "enerally less important
than the steady state response and will often &e ne"lected in desi"n#

?) 'f the input had &een a sine function instead of cosine function* such as f(t) = A sin(
f
t)
then &oth the transient and steady2state parts of the analytical response would have &een
"iven &y a sli"htly different equation:

2
2
( ) sin( )
1 ( )
1 ( )
t
f
o f
f
f
K A
K
x t x e A t

_
+ + +


+
+
,
@otice chan"e in sign and addition of
f
to the transient term and use of sin in the steady2
state term#
A) 'f the input includes a p$ase s$ift* * such as in f(t) = A cos(
f
t+ B) then the solution is:

2
2
( sin( ) cos( ))
( ) cos( )
1 ( )
1 ( )
t
f
o f
f
f
KA
KA
x t x e t

_
+ + + +


+
+
,
C.amine the response plot to a harmonic input for the model "iven &y

)
2
cos( 2 ? t x
dt
dx
+
with different initial conditions# !he dashed line is the input function * f(t) = 2 cos(Dt/2)#
!he solid line is response#
22222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222
3or initial condition: x(/) = 1#/
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22222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222
3or initial condition: x(/) = -2#/
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@otice how the transient &ehavior dies out* leavin" a sinusoidal steady2state response that is of a
different amplitude than the input and is out2of2phase (la""in") with the input si"nal#
E(ample 'ro)lem:
i
1
e
1
e
2
R
C
i
2
'n the circuit shown R = 1/ %E and C = 2#AF3#
Getermine e
2
when e
1
= /#? cos(> t)#
Assume initial condition of e
2
= / at t=/

Solution:
,odel: At node e
2
:
1 2
/ i i
8omponent equations: 3or resistor:
1 2
1
e e
i
R

3or capacitor:
2
2
( /) d e
i C
dt

,odel equation is:

1 2 2
/
e e de
C
R dt

2
2 1
de
CR e e
dt
+
2
2
/#?cos(> )
de
CR e t
dt
+
or you may have solved it as the !ransfer 3unction form:

2
1
( ) 1
( ) 1
E s
E s RCs

+
3rom comparin":

2
2
cos( )
f
de
e K A t
dt
+ and
2
2
/#?cos(> )
de
CR e t
dt
+
5eco"ni1e:
< A
(1/ 1/ )(2#A 1/ ) /#/2A CR x x F s

K =1 A=/#? and
>
f

then:

1 1
tan ( ) tan ( /#/2AH > ) /#<1A 1I#1
o
f



and

2 2
1
/#=?/A
1 ( ) 1 (/#/2AH> )
f
K
MF


+ +
!he analytical solution is "iven as
2
2
( ) cos( )
1 ( )
1 ( )
t
o f
f
f
K A K
x t x e A t

_
+ +


+
+
,

/#/2A
2
1H/#?
/ (/#=?/A) H/#?cos(> 1I#1 )
1 (/#/2AH> )
t
o
e t

_
+

+
,
finally simplified as:

<I#>A
( ) /#>?1I /#>J?<cos(> 1I#1 )
t o
x t e t

+
3or the same e.ample )ust completed* what is the solution if the input function is

1
( ) /#?sin(12/ ) e t t
@otice the differences here:
22 different frequency:
f
= 12/D
22 sine function (instead of cosine function)
!he solution is &ased on the GC model of:

2
2
/#?sin(12/ )
de
CR e t
dt
+
which has the analytical equation:

2
2
( ) sin( )
1 ( )
1 ( )
t
f
o f
f
f
K A
K
x t x e A t

_
+ + +


+
+
,
where
K = 1 A = /#?
f
= 12/D /#/2As e
2
(/)=/
then

/#/2AH12/ =#I/2
f

"ives the phase an"le as

1 1
tan ( ) tan ( =#I/2) 1#>A I>#2
o
f
ad


!he analytical solution is then

/#/2A
2
2
1H/#?H=#I/2 1
( ) / H/#?sin(12/ )
1 (=#I/2)
1 (=#I/2)
t
x t e t
_
+ + +

+
+ ,


<I#>A
/#/?/? /#/?/Jsin(12/ I>#2 )
t o
e t

+
:olution:
<I#>A
( ) /#>?1I /#>J?<cos(> 1I#1 )
t o
x t e t

+
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8 1.9 2
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1st Order Model with Harmonic Input
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e
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a
n
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e
s
p
o
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s
e

e
2

[
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Input: e1
Response: e2
:olution:
<I#>A
2
( ) /#/?/? /#/?/Jsin(12/ I>#2 )
t o
e t e t

+
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 0.045 0.05 0.055 0.06
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1st Order Model with Harmonic Input
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e
1

a
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e
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p
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e

e
2

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Input: e1
Response: e2
8ompare: Amplitudes of the input and response on each plot#
;hase shift &etween input and response on each plot#
Summary: When a 1
st
order GC :ystem is driven &y a harmonic drive term the response
consists of &oth transient and lon"2term response terms#
nput: f(t) = A cos(
f
t + )
Output:
( ) x t
tanisent
x
steady state
x

+
( ) x t
tanisent
x

cos( )
f
MF A t + + +

2
2
( sin( ) cos( ))
( ) cos( )
1 ( )
1 ( )
t
f
o f
f
f
KA
KA
x t x e t

_
+ + + +


+
+
,
******************************************************************************************************************
!o: f(t) = A sin(
f
t + )
Output:
( ) x t
tanisent
x
steady state
x

+
( ) x t
tanisent
x

sin( )
f
MF A t + + +

2
2
( cos( ) sin( ))
( ) sin( )
1 ( )
1 ( )
t
f
o f
f
f
KA
KA
x t x e t

_
+ + + +


+
+
,

*****************************************************************************************************************
where and

0
2
1 ( )
es!onse ""
in!#t
f
K
MF

+
A
A

1
tan ( )
f

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t

A
response0::np
ut
A
input
'nput
5esponse
where