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111
Stochastic Structural Dynamics
Lecture-38
Dr C S ManoharDepartment of Civil Engineering
Professor of Structural EngineeringIndian Institute of ScienceBangalore 560 012 India
Problem solving session-2
2
1 2 3
Problem 17Consider the vector random variable given by
= . It is given that is normal with mean vector and correlation matrix given by
1 4 1 6= 2 and = 1 9 0 .
3 6 0 19We
t
t
Y
Y Y Y Y YR
R YY
21 2 3
now form the random process .
Find the mean, autocorrelations and cross correlationsof ( ) and .
X t Y Y t Y t
X t X t
3
2
2 2
1 2 1 2
22 2
2 21 1 2 1 1 2
2 22 2
1 2
Define 1
11 2 1 2 3
3
2 2 6
4 1 6 1 4 61 1 9 0 1 1 9
6 0 19 6 19
,
t t
t
t t t
t t
XX
N t t t X t N t Y
X t N t Y t t t t
X t B Ct t
X t X t N t YY N t
t tt t t t t t
t t
R t t
2 2 2 21 2 1 2 1 2 1 2
2 2 4
4 9 6 6 19
4 2 21 19
t t t t t t t t
X t t t t
4
2
2 2 2 21 2 1 2 1 2 1 2 1 2
2 2 4
22 2 4 2
2 4 2 4 2 3
2 3 4
1 2 3
, 4 9 6 6 19
4 2 21 19
4 2 21 19 1 2 3
4 2 21 19 (1 4 9 4 6 12 )4 6 11 12 19
XX
X
X t t t
R t t t t t t t t t t
X t t t t
t t t t t t
t t t t t t t tt t t t
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 20
50
100
150
200
250
time
varia
nce
x(t)
5
2 2 2 21 2 1 2 1 2 1 2 1 2
21 2 1 2 1 2 1 2
2
21 2 1 2 1 3 1 2 3 2
22 1 1 2
2
1 2 1 2 1 21 2
, 4 9 6 6 19
, 1 9 12 38
Check
2
1 12 9 38
, 9 76
XX
XX
XX
R t t t t t t t t t t
X t X t R t t t t t tt
X t X t Y Y t Y t Y Y t
t t t t ok
X t X t R t t t tt t
6
Problem 18
Consider the random process exp
where deterministic constant, 1, is a random variable with pdf and
characteristic function , and =a random variable that is indepen
X t a j t
a jp
dent of anddistributed uniformly in , . Show that
is proportional to , and
is proportional to XX
XX
R
S p
7
*
2
2
2
2 2
exp
exp exp exp 0
exp exp
exp
exp
XX
XX
X t a j t
a j t a j t j
X t X t
a j t j t
a j
R a
S a j d a p
8
2 2
Problem 19: A random process is given by
2 - - 2where ( ) is a zero mean stationary random processwith PSD function
Determine the PSD function of ( ).
XX
Y t
Y t X t X t X tX t
CS
Y t
9
2 - - 2
2 - - 2 0
2 - - 2
2 2
2 4 2
2 2
6 4 4
2 2
XX XX XX
XX XX XX
XX XX XX
YY XX XX XX
XX XX
Y t X t X t X t
Y t X t X t X t
Y t X t X t X t
Y t Y t R R R
R R R
R R R
R R R R
R R
11
2 2
exp
exp exp
6 4 4
2 2
6 4 exp exp
exp 2 exp 2
6 8cos 2cos 2
6 8cos 2cos 2
UU
YY XX XX XX
XX XX
YY XX XX
XX
XX
YY
R i d S
R a i d i a S
R R R R
R R
S S S i i
S i i
S
CS
13
Problem 20Consider two independent random processes and which have zero mean and are stationary. Define
where is a deterministic constant.Determine PSD function of ( ).
X t Y t
Z t X t Y tZ t
0
XX
ZZ XX YY
ZZ YY
Z t X t Y t
Z t X t Y t X t Y t
Z t Z t X t Y t X t Y t
X t X t Y t Y t Y t
R R R
S S S d
14
0
Problem 21A simply supported beam of span carries a distributed load ( ). The load is modeled as a segment of stationary
random process as ( ) 1 such that
0 and . Determine the
Lf x
f x F x
x x x
followingBending moment at midspanJoint pdf of reactions at the two supports.
15
A B
f x
0
00 0
0 0
0
0 0 0
0
1 1 1
2
2 2
L
B
L L
B
L
L
B
R L xf x dx
R xf x dx xF x dxL L
F L F x x dxL
F L F F LR x x dxL
16
0 0
0
2 20 0
1 2 1 2 1 20 0
20
1 2 0 1 2 1 20 0
2 2 220 0 0
00
2 20 0 0
2
2
3
~2 3
L
B
L L
B
L L
L
B
F L FR x x dxL
F L FR x x x x dx dxL
F x x I x x dx dxL
F F LIx I dxL
F L F LIR N
17
0
00 0
0 0
0
2 2 20 0 0 0
2 20 0 0
1 1 1
2
&2 2 3
~2 3
L
A
L L
A
L
A A
B
R L L x f x dx
R L x f x dx L x F x dxL L
F L F L x x dxL
F L F L F LIR R
F L F LIR N
18
0 0
2 20
1 2 1 2 1 220 0
2 20
1 2 0 2 1 1 220 0
2 2 2 20 0 0
020
2 2 2 20 0 0 00
2 2 2 20 0 0 0 0
2 2
6
3 62~
2 6 3
A B
L L
L L
L
A
B
F L F LR R
F L x x x x dx dxL
F L x x I x x dx dxL
F F I LI x L x dxL
F LI F LIF LR
NR F L F LI F LI
19
2
00
2
00 0
2
00 0
0
Similarly one can study
( )2 2 2
1 ( )2 2
1 1 ( )2 2
Exercise: complete the characterization of
L
A
LL
LL
R LL LM M x f x dx
L LM L x f x dx x f x dxL
LL x F x dx x f x dx
M
20
0
2 21 2 1 2
Problem 22A cantilever beam carries a randomly distributed loadas shown below. The load ( ) is modeled as
1 ; 0 &
1 1exp2 2
Determine the bending moment at a section m
q x
q x q f x f x
f x f x x x
x
easured from the free end.
x
q x
21
0
00
2 22
0 0 00
22
0
2 20 1 2 1 2 1 2
0 0
2 2 2 20 1 2 1 2 1 2
0 0
1
2 2
2
1 1exp2 2
x
x
x
x x
x x
M x x q d
x q f d
x xM x x q d q x q
xM x q
q x x f f d d
q x x d d
22
2 2 2 2 20 1 2 1 2 1 2
0 0
2 2 2 2 20 1 2 1 2
0 0
2 2 2 20 2 1 2 1 2
0 0
2 2 2 20 1 1 2 1 2
0 0
2 20 1 2
1 1exp2 2
1 1exp2 2
1 1exp2 2
1 1exp2 2
1 1exp2 2
x x
M
x x
x x
x x
x q x x d d
q x d d
q x d d
q x d d
q
2 21 2 1 2
0 0
x x
d d
24
Problem 23A cantilever beam of span carries a series of concentrated loads. The point of application of theseloads are distributed as Poisson points on 0 to . The magnitude of the loads are modeled
L
L as a sequence
of iid-s with a common Rayleigh distribution withparamter . Determine the characteristic funciton of thereaction .R
26
1 1
1 1
1
0
2 2
exp exp
0 exp
exp exp!
exp exp 1!
: 1 exp 1 erf2
N L N L
n R in n
k
ik n
kk
wk
kk
w wk
w
R w i R i w
P N L i w N L k P N L k
aLaL i aL
k
aLi aL aL i
k
ii i
Note (prove)2
27
1 2 2 1 2 1
Problem 24Verify if
, exp - - sin -
can be a valid autocovariance function of a zero meanrandom process. It is given that , , 0.
R t t t t t t
1 2 2 1
1 2 1 1 2 2
Required characteristics, ,
, 0
, , ,
No, since the function is not positive definite;notice , 0
R t t R t t
R t t
R t t R t t R t t
R t t
28
2
Problem 25Consider to be a stationary random process with
zero mean. Define ( ) - where and ( ) are determinisitc. Determine autocovariance of( ). It is given that
exp 1XX
X t
Y t X t a t X ta t
Y t
R
29
( ) -
( ) - 0
( )
- -
-
-
- -
-
Simplify using
XX XX XX
XX
n m
n m
Y t X t a t X t
Y t X t a t X t
Y t Y t
X t a t X t X t a t X t
X t X t X t a t X t
a t X t X t
a t X t a t X t
R a t R a t R
a t a t R
d X t d Y tdt dt
1n m
m XYn m
d Rd
30
2
2
2
2
2
2
2
exp 1
exp sgn 1
exp sgn
exp sgn sgn sgn
exp sgn
Use
sgn &
and derive
XX
XX
XX
R
d Rd
dU tU U t
dtd Rd
31
Problem 26An undamped sdof system is set into free vibrationby imparting random initial displacement and velocity.Characterize the system response. Determine the conditionsunder which the response can become stationary.
32
2
2
2
2
0; 0 ; 0
cos sin
cos sin
cos sin
cos sin cos sin
, cos cos cos sin
sin cos sin sin
xx
x x x u x v
x t A t B tvx t u t t
vx t u t t
x t x t
v vu t t u t t
uvR t u t t t t
vuvt t t t
33
2
2
2
22 2
2
2
2
, cos cos cos sin
sin cos sin sin
Take 0 &
, cos cos sin sin
, cosConditions for existence of stochastic steady state
xx
xx
xx xx
uvR t u t t t t
vuvt t t t
vuv u
R t t t t t
R t R
2
2 22
are
0, 0, 0 &v
u v uv u
34
Problem 27An input ( ) 0 for 0 and ( ) exp(-2 ) for 0 to a linear system produces the output
1 exp 2 exp 4 . The system is now 2
excited by a Gaussian white noise excitation with unit stren
f t t f t t t
y t t t
gth. Determine the PSD of the steady state response.
35
2
2
( ) exp(-2 ) 1
21 exp 2 exp 42
1 1 12 2 4
1 1 11 2 12 2 4 11 2 4 4
21
16YY
f t t U t
Fi
y t t t U t
Yi i
ii iHi i
i
S H
37
Problem 28Consider a random process
sinwhere is determinstic, is a random variable distributed uniformly in 0 to 2 , and ( ) is azero mean stationary Gaussian random process.It may be a
X t P t Y tP
Y t
ssumed that ( ) and are independent.Determine the joint pdf of and .
Are and uncorrelated? independent?
Y tX t X t
X t X t
38
2
2
sin
0
sin sin
sin sin
cos2
is wide sense stationary
YY
YY
X t F t Y t
X t
X t X t F t Y t F t Y t
F t t R
F R
X t
39
sincos
2 2
2 2
2 2
2 2
sin
cos
, | ,
1 1exp sin cos2 2
, , |
1 1 1exp sin cos2 2 2
12
y x F tXX YYy x F t
XX XX
X t F t Y t
X t F t Y t
p x x p y y
x F t x F t
p x x p x x p d
x F t x F t d
2 22 2
1 1exp sin cos2 2
x F x F d
40
2 22 2
2 2 22 2 2
2 2 2 2 202 2 2
,
1 1 1exp sin cos2 2 2
1 1 1exp exp sin cos2 2 2
1 1exp ; ,2 2
sin
1|2
XX
X
p x x
x F x F d
Fx x F x x d
Fx x F I x x x x
X t F t Y t
p x
2
2
1exp sin2
|
|
X X
XX
x F t
p x p x p d
p x p x p d
41
It can be verified that,
and are uncorrelated because they are stationaryrandom processes.
and are not independent
XXX Xp x x p x p x
X t X t
X t X t
Remark
42
2 2
2 22 2
Problem 29
Let ( ) be a random process with
and . Show that
P for some in
1 1 ; 02
Note: This is the generalization of Chebychev's
X
X X
X
b
X X X Xa
X t X t t
X t t t
X t t t a t b
a b t t dt
inequalityfor random processes.
43
22
2 2
2
2 2 2
2
We have for a random process ( )1P sup E sup Prove this
Also,
2
2
12
1sup
a t b a t b
t
ab
tt
a
a t b
Y t
Y t Y t
dY t Y a Y u Y u dudu
dY b Y u Y u dudu
dY t Y a Y b Y u Y u dudu
Y t
[Hints]
2 2
2
t
a
dY a Y b Y u Y u dudu
44
12 2 2
2 2 2
12 2
2
We have
E E E
1sup2
E E
Substitute in the above to getthe required result.
a t b
t
a
X
UV U V
E Y t E Y a Y b
d Y u Y u dudu
Y t X t t
45
2
2
Problem 30Let ( ) be a stationary random process with zero meanand autocovariance function given by
1 exp22
How many times can we differentiate this process?
Determine 0.75 i
XX
X t
R
P X t
f it is given that the
process is Gaussian and =1.
46
2
2
2 2
2 2
1 exp22
exp2
exp exist 1, 2,2
is differentiable at =0 forall orders.
is differentiable to any order (in the mean square
XX
XX
nn
XX
R
S
d n
R
X t n
sense)
47
2
2
2
2 2
2 2
2 2 2
22
2 2
2
2 2
1 exp22
1 exp22
1 1 exp22
1 exp22
1 1 10 12 2
1exp 2 exp2
0
XX
XX
XX
XX
X
R
d Rd
d Rd
R
p x x x
P X t
0.75
2.75 exp 0.97x dx
48
Problem 31Let ( ) be a Poisson random process with arrival rate .
Define 1 .Determine the mean and covariance of ( ).Note: is known as semi random telegraph signal.
N t
N t
X tX t
X t
1
1
t
X t
49
2 4
3 5
1 .
1 if ( ) 0 or ( ) is even1 if ( ) is odd
1 0 or ( ) is even
exp 1 exp cosh2! 4!
1 ( ) is odd
exp exp s3! 5!
N tX t
N t N tX t
N t
P X t P N t N t
t tt t t
P X t P N t
t tt t t
inh
1 1 1 1
exp cosh sinh 2exp 2
t
X t P X t P X t
t t t t
50
even odd
1 if there are even number of occurrences in to .
1 if there are odd number of occurrences in to .
1 exp 1 exp exp 2! !
, exp 2
n n
n n
XX XX
X t X tt t
X t X tt t
X t X t
n nR t t R
51
Problem 32A random walk is performed on a two-dimensional plane with auniform step size of . At every step the direction is a randomvariable. -s can be taken to be an iid sequence with a common
i
i
pdf that is uniformly distributed in 0 to 2 . Find the distribution of the
-coordinate after steps.x n
X
x
y
52
1
1
12
00
0
0
00
cos
exp exp cos
exp cos
1exp cos exp cos2
1 exp2
1 cos
N
ii
N
X jj
n
ji
j j j
nX
nX
n
X
i X i
i
i i d J
J
p x J i x d
J xd
53
0
00
2 2 4 4
0 2 2 2
2 2 4 4
0 2 2 2 2
2 2 2 2
2
2
2
1 cos
12 2 4
Consider the limit such that .
12 2 4
1 exp2 4
1 exp
nX
nX
nn
nn
n
X
J
p x J xd
J
n n c
c cJn n
c cn
xp xcc
; x
54
th
Problem 33Let the time interval 0 to be divided into a sequence of equal intervals of length . Consider a sequence
1of Bernoulli trials with P success = . Define2
1 if success on trial 1 if f
TT
n
nX t
th 1ailure on trial
Find mean and autocorrelation of ( ).
Furtheremore, let be a random variable distributeduniformly in 0 to and independent of ( ).Define - . Determine the me
n T t nTn
X t
eT X t
Y t X t e
an andautocorrelaiton of ( ).Y t
55
th
th
22 2
1 21 2
1 if success on trial 1
1 if failure on trial1 11 1 02 2
1 11 1 12 2
1 if 1 ,0 otherwise
nX t n T t nT
n
X t
X t
n T t t nTX t X t
56
1 2 1 1
1 2
1 2 1 2
1 2
1 21 2
E =E E E 0
E E
E E
E 0 if
If
1 if -E
0 otherwise
Y t X t
Y t Y t X t
Y t Y t X t X t
X t X t
X t X t t t T
t t T
e T t tX t X t
58
Problem 34Given a postive function ( ) find a stochastic process whose PSD is ( ). Existence theorem
SS
Determine a LTI system with H and
pass a zero mean stationary Gaussian white noise withunit strength through this system. The output processwould be a zero mean stationary process with PSD= .
i S
S
59
22Determine and define .
Clearly, 0 & 1; also,
has the properties of a pdf of a random variable.
Let ( ) cos where and are random variables
with
Sa S d f
a
f f d f f
f
X t a t
Alternative
2
1 2 1 20
22
~ , ~ 0,2 ,& .
( ) 0 Prove it; start with finding mean conditioned on
( ) ( ) cos cos ,
cos OK2XX XX
f U
X t
X t X t a t a t p d d
aR f d S a f
61
0 10 20 30 40 50 60 70 80-2
-1.5
-1
-0.5
0
0.5
1
1.5
2
t s
x(t)
0 10 20 30 40 50 60 70 80-1
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
1
t s
x(t)
PSD is an ensemble propertyThese two time histories
represent samplesfrom two different processes having thesame mean and PSD function.
Remarks
62
RemarkThe following three processes share the same form of PSDThe sample realizations are dramatically different.
1 ; ( ) : Poisson process with rate
cos ; ~ ; ~ 0,2 ;
Steady st
N tX t N t
SX t t U
S d
0ate response ; 0X X t X X
63
1
1
t
X t
0 10 20 30 40 50 60 70 80-2
-1.5
-1
-0.5
0
0.5
1
1.5
2
t s
x(t)
0 10 20 30 40 50 60 70 80-1
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
1
t s
x(t)