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W03-1-Basics of Mathematical Tools

The document discusses the basics of mathematical tools for automatic control systems, including ordinary differential equations and the Laplace transform. It provides examples of taking the Laplace transform of common functions like exponentials, step functions, impulse functions and sinusoids. It also outlines several properties of the Laplace transform.

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emin30373
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12 views

W03-1-Basics of Mathematical Tools

The document discusses the basics of mathematical tools for automatic control systems, including ordinary differential equations and the Laplace transform. It provides examples of taking the Laplace transform of common functions like exponentials, step functions, impulse functions and sinusoids. It also outlines several properties of the Laplace transform.

Uploaded by

emin30373
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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Automatic Control

3. Basics of Mathematical tools [1]


김승균 (Seungkeun Kim)
Office: 3-226, [email protected]
Where are we?
Contents
❖ [Ch1] 1. Intro: what is control? & what is feedback?
❖ [Ch2] 2. Mathematical modeling of physical systems
❖ [Ch3] 3. Basics of mathematical tools: ODE, Laplace transform, etc
❖ [Ch3] 4. Transfer function & Block diagram
❖ [Ch3] 5. Effects of Pole locations & Time-domain specifications
❖ [Ch3] 6. Effects of zeros, additional poles, & Stability
❖ 7. Mid-exam

❖ [Ch4] 8. System type


❖ [Ch4] 9. Basic classical control: PID (1) – Definition & PID elements
❖ [Ch4] 10. Basic classical control: PID (2) – Example & Z-N tuning
❖ [Ch5] 11. Root-locus design (1): Intro & how to draw RL
❖ [Ch5] 12. Root-locus design (2): Find a gain from RL & examples
❖ [Ch6] 13. Frequency-response design (1): Intro
❖ [Ch6] 14. Frequency-response design (2): Bode plot
❖ [Ch6] 15. Frequency-response design (3): GM/PM & Final-exam

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3. Basics of mathematical tools
ODE & Laplace Transform
❖ ODE vs. PDE
◼ IVP (Initial Value Problem)

❖ Laplace transform
◼ A math technique extensively used in control system design & analysis
◼ A very powerful mathematical tool for solving ODEs.
◼ Transforms an ODE to an algebraic eq.

◼ L: Laplace operator
◼ s: Laplace variable

❖ Inverse Laplace Transform

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3. Basics of mathematical tools
Laplace Transform
❖ The Laplace transform method is a powerful method
◼ for solving linear ODEs and corresponding IVP (initial value problems)

❖ Advantage of the Laplace transform


◼ Problems are solved more directly,
◼ IVPs without first determining a general solution
◼ nonhomogeneous ODEs without first solving the homogeneous ODE.

❖ The use of the unit step function and Dirac’s delta


◼ make the method particularly powerful for problems with inputs that have
◼ Discontinuities

◼ Short impulses

◼ Complicated periodic functions

4
3. Basics of mathematical tools
Laplace Transform

S-domain analysis
(algebraic equation)

Laplace Inverse
Transform Transform

Problem Time domain analysis Answer


(differential equation)

< Relation of Time domain and s-Domain >

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3. Basics of mathematical tools
Laplace Transform
❖ Ex. L[f(t)]
◼ f(t) = e-at

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3. Basics of mathematical tools
Laplace Transform
❖ Ex 3.6 LT of step and ramp functions
◼ Step input
𝑎, 𝑖𝑓 𝑡 ≥ 𝑡0
◼ 𝑢 𝑡 − 𝑡0 = {
0 𝑖𝑓 𝑡 < 𝑡0

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http://en.wikibooks.org/wiki/Control_Systems/System_Metrics
3. Basics of mathematical tools
Laplace Transform
❖ Ex 3.6 LT of step and ramp functions (ctnd)
◼ Ramp input
𝑏𝑡, 𝑖𝑓 𝑡 ≥ 𝑡0
◼ 𝑟 𝑡 − 𝑡0 = {
0, 𝑖𝑓 𝑡 < 𝑡0

◼ cf) Parabolic input


1
◼ 𝑝 𝑡 − 𝑡0 = 2 𝑡 2 𝑢(𝑡 − 𝑡0 )

8
http://en.wikibooks.org/wiki/Control_Systems/System_Metrics
3. Basics of mathematical tools
Laplace Transform
❖ Ex 3.7 LT of impulse function (Dirac delta function)
0, 𝑖𝑓 𝑡 ≠ 𝑡0
◼ 𝛿 𝑡 − 𝑡0 ={ ∞
‫׬‬−∞ 𝛿(𝑡 − 𝑡0 ) = 1

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3. Basics of mathematical tools
Laplace Transform
❖ Ex 3.8 LT of sinusoidal function
◼ 𝑓 𝑡 = 𝑠𝑖𝑛𝜔𝑡

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3. Basics of mathematical tools
Laplace Transform
❖ Properties of Laplace Transform
◼ Superposition
◼ 𝐿 𝑎𝑓1 𝑡 + 𝑏𝑓2 𝑡 = 𝑎𝐿 𝑓1 𝑡 + 𝑏𝐿{𝑓2 (𝑡)}

◼ Time shifting (same sign)


◼ 𝐿 𝑓 𝑡 −𝝉 𝑢 𝑡 −𝝉 = 𝑒 −𝑠𝝉 𝐹(𝑠)

◼ Freq. shifting (opposite sign)


−𝒂𝑡 𝑓 𝑡
◼ 𝐿 𝑒 = 𝐹(𝑠 + 𝒂)

◼ Time scaling
1 𝑠
◼ 𝐿 𝑓 𝑎𝑡 = 𝐹(𝑎)
𝑎

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3. Basics of mathematical tools
Laplace Transform
❖ TABLE A.2

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3. Basics of mathematical tools
Laplace Transform
❖ TABLE A.2 (continued)

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