ME160P-2

LCCDE – Direct Method

SOLUTION TO LINEAR DIFFERENTIAL
EQUATIONS WITH CONSTANT-
COEFFICIENTS (LCCDE)
BY DIRECT METHOD
LCCDE by Direct Method
◦ Homogeneous Solution (Natural Response)
◦ Particular Solution (Forced Response)
◦ Total Solution

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LINEAR CONSTANTCOEFFICIENT DIFFERENTIAL
EQUATION

◦ Where: ai = Constants

LCCDE is also called Linear Time-Invariant (LTI)

Differential Equation

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SOLUTIONS TO LCCDE
◦ Classical Solution/Direct Method

Roots of Method of
Characteristic undetermined
Polynomial coefficients

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SOLUTIONS TO LCCDE
◦ Laplace Transform Method

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CLASSICAL SOLUTION
◦ Solution to

◦ is of the form

Where:

yc(t)= Characteristic Solution (Homogenous)

yp(t)= Particular Solution

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HOMOGENEOUS SOLUTION
Steps in obtaining the Homogeneous Solution

1. Equate f(t) to zero.

2. Create an auxiliary (characteristic) equation from the differential equation.
3. Solve for the roots of the auxiliary equation.
4. Write the homogeneous solution from the corresponding roots.

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Example:
CASE I: Real & Distinct Roots
Steps in obtaining the Homogeneous ◦ Determine the Homogeneous Solution
Solution of the Differential Equation

1. Equate f(t) to zero.

2. Create an auxiliary (characteristic)
equation from the differential ◦ Equating the right side to zero and
equation. writing the auxiliary equation
3. Solve for the roots of the auxiliary
equation.
4. Write the homogeneous solution
from the corresponding roots.

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Example:
CASE I: Real & Distinct Roots
Steps in obtaining the Homogeneous ◦ By using Synthetic Division or other root
Solution finding method

m = − 1, 2 ,3
1. Equate f(t) to zero.
◦ The Homogeneous Solution is of the
2. Create an auxiliary (characteristic) form
equation from the differential
equation.
3. Solve for the roots of the auxiliary
equation.
4. Write the homogeneous solution
from the corresponding roots.

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Example:
CASE II: Real & Repeated Roots
Steps in obtaining the Homogeneous ◦ Determine the Homogeneous Solution
Solution of the Differential Equation

1. Equate f(t) to zero.

2. Create an auxiliary (characteristic)
equation from the differential ◦ Equating the right side to zero and
equation. writing the auxiliary equation
3. Solve for the roots of the auxiliary
equation.
4. Write the homogeneous solution
from the corresponding roots.

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Example:
CASE II: Real & Repeated Roots
Steps in obtaining the Homogeneous ◦ By using Synthetic Division or other root
Solution finding method

m = 0,0,−1,−1
1. Equate f(t) to zero.
◦ The Homogeneous Solution is of the
2. Create an auxiliary (characteristic) form
equation from the differential
equation.
Or
3. Solve for the roots of the auxiliary
equation.
4. Write the homogeneous solution
from the corresponding roots.

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Example:
CASE III: Complex Conjugate Roots
Steps in obtaining the Homogeneous ◦ Determine the Homogeneous Solution of
Solution the Differential Equation

1. Equate f(t) to zero.

2. Create an auxiliary (characteristic)
equation from the differential
◦ Equating the right side to zero and
equation.
writing the auxiliary equation
3. Solve for the roots of the auxiliary
equation.
4. Write the homogeneous solution from
the corresponding roots.

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Example:
CASE III: Complex Conjugate Roots
Steps in obtaining the Homogeneous ◦ By using Synthetic Division or other root
Solution finding method

m = 2 ± j3
1. Equate f(t) to zero.
◦ The Homogeneous Solution is of the
2. Create an auxiliary (characteristic) form
equation from the differential
equation.
Or
3. Solve for the roots of the auxiliary
equation.
4. Write the homogeneous solution
from the corresponding roots.

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MATLAB Implementation
◦ Using MATLAB we can find the roots of a polynomial given its coefficients using

roots(c)
where: C = coefficient vector
◦ Example:
◦ Find the roots of
◦ Solution:
>> c = [1 -4 1 6];
>> roots(c)

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Particular Solution
Steps in obtaining the Particular Solution

1. Determine the form of f(t).

2. Write the particular solution corresponding to the given f(t).
3. Using Method of Undetermined Coefficients, solve for the constants by evaluating the left side of the
differential equation.

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PARTICULAR SOLUTIONS OF SOME
FUNCTIONS

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Example: Particular Solution
Steps in obtaining the Particular Solution ◦ Find the Particular Solution of the
Differential Equation

1. Determine the form of f(t).

2. Write the particular solution
corresponding to the given f(t). ◦ Solution: From the Table, the Particular
solution corresponding to f(t)
3. Using Method of Undetermined
Coefficients, solve for the constants
by evaluating the left side of the
differential equation.

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Example: Particular Solution
Steps in obtaining the Particular Solution ◦ In order to evaluate the left-side of the
D.E., we will need the first and second
derivatives of yp
1. Determine the form of f(t).
2. Write the particular solution
corresponding to the given f(t).
3. Using Method of Undetermined
Coefficients, solve for the constants
by evaluating the left side of the
differential equation.

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Example: Particular Solution
Steps in obtaining the Particular Solution ◦ The given D.E. can be written as

1. Determine the form of f(t).

2. Write the particular solution ◦ Equating coefficients we can have
corresponding to the given f(t). the following relationships to solve for
K1,K2,K3 and K4
3. Using Method of Undetermined
Coefficients, solve for the constants
by evaluating the left side of the
differential equation.

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Example: Particular Solution
Steps in obtaining the Particular Solution ◦ We can find K1 and K2 from eq.1 and
eq.2

1. Determine the form of f(t).

2. Write the particular solution
corresponding to the given f(t). ◦ We can find K3 and K4 from eq.3 and
eq.4. using Cramer’s Rule
3. Using Method of Undetermined
Coefficients, solve for the constants
by evaluating the left side of the
differential equation.

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Example: Particular Solution
Steps in obtaining the Particular Solution ◦ By substituting the constants, the
particular solution will be
K1 = -1 K2 = -1/2 K3 = 6 K4 = -2
1. Determine the form of f(t).
2. Write the particular solution
corresponding to the given f(t).
3. Using Method of Undetermined
Coefficients, solve for the constants
by evaluating the left side of the
differential equation.

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MATLAB Implementation
◦ Using MATLAB we can find the Solutions to a System of Linear Equations Ax=C given the Coefficients and
Constants

x=inv(A)*C
where:
C=constant vector
A=coefficient matrix
*=matrix multiplicationExample:

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MATLAB Implementation
◦ Find the roots of x1, x2, x3
◦ Solution:
>> A = [4 -2 1

-3 -1 4

1 -1 3];

>> C= [15;8;13];

>> x = (inv(A)*C)’

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TOTAL SOLUTION
◦ After solving for the Homogeneous and Particular Solutions

◦ The final task will be to determine the constants from the Homogeneous Solution by evaluating the Total
Solution at given Initial Conditions

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◦ Solving the Homogeneous Solution from

m = 1, -2

◦ Solving for Total Solution

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◦ From the Total Solution with the initial condition of zero

◦ We can now solve the Constant Coefficients

◦ where y(t) = 0

◦ Where dy(t)/dt = 0

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◦ Using eq.1 and eq.2 we can solve for c1 and c2

◦ Total Solution is

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REFERENCES:
◦ Elementary Differential Equations, 7thedition,by Rainville E.D.,and Bedient P.E.
◦ Schaum’s Outline Series “Feedback and Control Systems”, 2nd edition, by DiStefano III, J.J., Stubberud
A.R., and Williams I.J.
◦ Control Systems Engineering, 3rd edition, by Nise N.S.

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 End of Presentation
Thank you!

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