Process Dynamics and

Control
Hare Krishna Mohanta
BITS Pilani Department of Chemical Engineering
B.I.T.S-Pilani, Pilani Campus
Pilani Campus
 LAPLACE TRANSFORMS
BITS Pilani CHE F342: PROCESS DYNAMICS AND CONTROL
Pilani Campus
App A: Laplace Transforms (Mathematical Tools
for Modeling)

• Definition of the Laplace Transform

The Laplace transform of a function f( t) is defined to be F( s)
according to the equation

L is a linear operator:
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Examples: LT of Simple Functions

Find the Laplace transform of the function

f (t) = 1

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Laplace Transforms of Various Time-
Domain Functions

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Laplace Transforms of Derivatives

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Solution of Differential Equations by LT
Techniques

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Cases of Partial Fractions: Repeated
factors
Method 1: Substitution
Ex 1.

Putting s = -1, we get 1 = - 1/4

Method 2: Differentiation

Two methods are possible for 𝛼 1

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Cases of Partial Fractions: Quadratic
Terms
Ex. 2.

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Cases of Partial Fractions

Ex. 3

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Cases of Partial Fractions

Ex.4. Solve the following differential equation using Laplace Transforms:

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Cases of Partial Fractions: Complex
conjugate roots
Ex. 5. Solve the following differential equation using Laplace Transforms:

Applying Laplace transform

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Avoiding complex conjugate

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Step function and Shifted step function

0 t< 0 t<
S (t- )= f (t)=
1 t  h t 
f(t)
f(t) f(t)
1
1 h
0
0 0 0
t 0  0
t t

Step function of magnitude h

Unit step function
Shifted unit step function
f(t) = S(t) f(t) = hS(t)
f(t) = S(t-)
1 ℎ
𝐿 𝑆 𝑡 = 𝑒 −𝑠 𝐿 ℎ𝑆 𝑡 =
𝑠
𝑠 𝐿 𝑆 𝑡− =
𝑠

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LT of various other functions

• The Rectangular Pulse Function

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Rectangular Pulse function
f(t) f(t)
f(t)

h h
h
+ 0
=
0
0 tw 0
0 0 tw
t t
t

hS(t) -hS(t-tw) f(t)=hS(t) -hS(t-tw)

ℎ ℎ𝑒 −𝑡𝑤 𝑠 ℎ
𝐿 𝑓 𝑡 = − = 1 − 𝑒 −𝑡𝑤 𝑠
𝑠 𝑠 𝑠

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Double Pulse Function
xDP(t)

t
0 tw 2tw

-h

xDP(t) = S(t) – 2h S(t–tw) + h S(t–2tw)

L{xDP(t)} = (1/s) – (2h/s) exp(-tws) + (h/s) exp(–2tws)

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Impulse Function (Dirac Delta Function)

(t)
1
𝑡𝑤

0 𝑡𝑤

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Ramp Function

R(t) = at
L{R(t)} = a/s2

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Composite Functions

f(t)

0
0 t
2 4 6

f(t) =0.5t-0.5(t-2)S(t-2) - 0.5(t-4)S(t-4) - 0.5(t-6)S(t-6)

F(s) = 0.5/s2 – 0.5 e-2s/s2 - 0.5 e-4s/s2 - 0.5 e-6s/s2

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Example

Find the inverse transform of

Solution:

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Transform of an Integral

1
= 𝐹(𝑠)
𝑠

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Initial and Final Value Theorems

• Initial Value Theorem

• Final Value Theorem

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Laplace Transforms with MATLAB

• Calculating the Laplace F(s) transform of a function f(t) is quite simple in

Matlab . First you need to specify that the variable t and s are symbolic
ones. This is done with the command
>> syms t s

• The actual command to calculate the transform is

>> F = laplace (f , t , s)

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Example

>> syms t s
>> f=-1.25+3.5*t*exp(-2*t)+1.25*exp(-2*t);
>> F = laplace ( f , t , s)
F = -5/4/s+7/2/(s+2)^2+5/4/(s+2)
>> simplify(F)
ans = (s-5)/s/(s+2)^2
>> pretty (ans)

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Inverse Laplace Transform using
MATLAB
• The command one uses now is ilaplace .

>> syms t s
>> F=(s-5)/(s*(s+2)^2);
>> ilaplace(F)
ans = -5/4+(7/2*t+5/4)*exp(-2*t)
>> simplify(ans)
ans = -5/4+7/2*t*exp(-2*t)+5/4*exp(-2*t)
>> pretty(ans)
- 5/4 + 7/2 t exp(-2 t) + 5/4 exp(-2 t)

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