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Week 2

The document provides an overview of control systems and Laplace transforms. It discusses the Laplace transform of common functions like exponentials, step functions, ramp functions, and sinusoidal functions. It also covers several properties of Laplace transforms including linearity, time shifting, differentiation, integration, and convolution. Example problems are given to demonstrate partial fraction expansion and inverse Laplace transforms. Basic linear algebra concepts are reviewed like inner products, matrices, determinants, eigenvalues/eigenvectors, kernels, and linear dependence/independence.

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43 views

Week 2

The document provides an overview of control systems and Laplace transforms. It discusses the Laplace transform of common functions like exponentials, step functions, ramp functions, and sinusoidal functions. It also covers several properties of Laplace transforms including linearity, time shifting, differentiation, integration, and convolution. Example problems are given to demonstrate partial fraction expansion and inverse Laplace transforms. Basic linear algebra concepts are reviewed like inner products, matrices, determinants, eigenvalues/eigenvectors, kernels, and linear dependence/independence.

Uploaded by

salim ucar
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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CONTROL SYSTEMS

Doç. Dr. Murat Efe

WEEK 2
Laplace transform of
Exponential Function

The abscissa of convergence: s > -a

Exponential function produces a pole in the


complex plane
Laplace transform of
Step Function, 1(t)

The abscissa of convergence: s > 0

Step function produces a pole at the origin of


the complex plane
Laplace transform of
Ramp Function

Ramp function produces double poles at the


origin of the complex plane
Laplace transform of
Sinusoidal Function

Sinusoidal functions produce poles on


the imaginary ( jw ) axis
Several Properties of Laplace Transform
&
Laplace Transforms of Important Functions
1. Linearity
2. Time Shift (Delay, Advance)
3. Multiplication by e-at
4. Change of Time Scale a > 0
5. Real Differentiation
6. Real Integration

If f (t) is of exp. order

Apply integration by parts


7. Multiplication by t
8. Laplace Transform of a Pulse

f (t)
A/t0

0 t0
9. Laplace Transform of Impulse Function

f (t)
A/t0

0 t0
10. Final Value Theorem

This theorem can be applicable if


• f (t) settles down to a constant limit
• sF(s) has no poles on the imaginary axis, this
obviously means oscillations in f (t)
• sF(s) has no poles on the right half s-plane
11. Initial Value Theorem

This Theorem can be applicable if


• f (t) and df (t)/dt are both Laplace transformable
• The limit on the right hand side exists
12. Laplace Transform of Convolution

where

t
and by duality
Inverse Laplace Transform
Typical Inversion Methods

• Use of inversion integral


Complicated and generally takes long time

• Use of table (Textbook pp.22-23)


Easiest way but you may not always be able
to find what you are looking for in the table
explicitly

We will take a look at Partial Fraction Expansion


Partial Fraction Expansion

Consider

where m<n.

• If m=n, then find out the constant term and


separately write in the expansion, then invert.
• If m>n, then find out the polynomial in s, and
write and invert it separately.
• -zi’s are zeros and -pi’s are poles.
• Poles and zeros may be complex numbers as well
If m<n, the expression

can be expanded as

where
Consider

where, deg A<q+m. This expression can be expanded as

with

k=0,1,…,q-1
Example (2.3 from book)

Find the inverse Laplace transform of


Example (2.4 from book)

Find the inverse Laplace transform of


An Example

Find the inverse Laplace transform of

Solution: Rewrite it as
Example (2.5 from book)

Find the inverse Laplace transform of


P-1 Review of Linear Algebra

Inner (Dot) Product of Vectors


Multiplication of Two Matrices
Determinant
Determinant

Given a determinant, summing two rows and writing the


result as one of those rows do not change the value of the
determinant.
Similarly, summing two columns and using the result as
one of those columns do not change the value of the
determinant.
Eigenvalues and Eigenvectors
Characteristic Polynomial

Note that a polynomial is said to be monic if the


coefficient of the highest order term is equal to unity

Cayley-Hamilton Theorem
Every square matrix satisfies its characteristic
polynomial
Kernel and Image

Rn A Rm

Ker(A) 0
Kernel and Image

Rn A Rm

Im(A)
Linear Dependence/Independence

Let

Set

If a set of aj (other than all zero) yields x=0,


then {x1, x2,…, xk} set is said to be linearly dependent
otherwise x1…k are linearly independent

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