Control Systems

Review of Laplace & Inverse

Laplace Transforms
 Contents
Introduction

Review of Complex Variables and Complex functions

Laplace Transformation

Inverse Laplace Transformation

Partial Fraction Expansion with MATLAB

Solving DEs
 Introduction
L ap lace
Tran sfo rm atio n

Tim e d o m ain F req u en cy d o m ain

u n kn o w n f(t), d /d t, D iff E q s u n kn o w n F (s), A lg E q s

S o lve
D ifferen tial S o lve
E q u atio n s A lgeb raic
E q u atio n s

Tim e d o m ain F req u en cy d o m ain

kn o w n f(t) kn o w n F (s)

In verse
L ap lace
Tran sfo rm
 Review of Complex Variables
and Complex functions
s   j Re( s )  Im( s ) 
1   
| s |   2 2 s tan  
 
s | s | cos(s )  j sin(s) 
 ?,  ?
s   j 2
| s | ss
 Review of Complex Variables
and Complex functions

G ( s ) Gx ( ,  )  G y ( ,  ) j | G ( s ) |?
G ( s ) ?
d G ( s  s )  G ( s ) G
G ( s ) lim s  0 lim s  0
ds s s
 Review of Complex Variables
and Complex functions

Equating real and imaginary parts

Gx G y G y Gx Cauchy-Riemann

 ,  Conditions.
   
Only if these two conditions are satisfied, the function G(s) is analytic.
 Review of Complex Variables
and Complex functions
Points in the s plane at which the function G(s) is analytic are called
ordinary points.
Points in the s plane at which the function G(s) is not analytic are
called singular points.
Singular points at which the function G(s) or its derivatives
approach infinity are called poles.
Singular points at which the function G(s) equals zero are called
zeros.
If G(s) approaches infinity as s approaches –p and if the function
G(s)(s+p)n, for n = 1, 2, 3, … has a finite, nonzero value at s = -p,
then s=-p is called a pole of order n.
If n = 1, the pole is called a simple pole.
 Review of Complex Variables
and Complex functions
j
Euler’s Theorem e cos( )  j sin( )
Proof: Consider the Taylor series expansions of the functions
x 2
x 3
2 4 6
e x 1  x    cos  1    
2! 3! 2! 4! 6!
3 5 7
sin      
3! 5! 7!
cos   j sin  

e j  e  j e j  e  j
Corollaries cos( )  sin( ) 
2 2j
Laplace
Transformation
 Laplace t 
L [ f (t )]  f (t )e dt  st
Transformation t 0

0, t  0  t 
 , L [1(t )] 
 st
1(t )  1(t )e dt
1, t 0  t 0

t  t 
L [1(t )]  1(t )e dt  e dt
 st  st
t 0 t 0
t 
  1  st   1  st 1
 e    limt   e  1 
 s  t 0 s s
 Laplace n  at An !
L [ At e 1(t )] 
Transformation ( s  a) n 1

f (t )  A cos( t )1(t ), j t  j t
 e e 
L [ A cos( t )1(t )] L  A 1(t ) 
 2 
 e j t   e  j t 
L  A 1(t )   L  A 1(t ) 
 2   2 
A 1 A 1 A s  j   ( s  j )
  
2 s  j 2 s  j 2 s  j s  j 
As
 2
s  2
 Inverse Laplace Transformation
s 3 Partial fraction Expansion.
F (s) 
( s  1)( s  2) “Cover up Rule”
A B
F (s)  
s 1 s  2
t  2t
t  2t
f (t )  Ae  Be  1(t ) f (t )  
 2 e  (  1 ) e  1(t )

s 3  A B 
A: ( s  1) ( s  1)  
( s  1)( s  2)  s  1 s  2 
 s 3 
s 3  B  A   A 2
 A  ( s  1)    ( s  2)  s  1
( s  2)  s  2 
s 3  A B 
B: ( s  2) ( s  2)   
( s  1)( s  2)  s  1 s  2 
s 3  A   s 3 
( s  2)  B B   B  1
( s  1) 
 s 1  ( s  1)  s  2
 Laplace Note:
transform of a Lower case f indicates function
of time.
derivative Upper case F indicates function
of s.

d  (Multiplication by s) =
L  f (t )  sF ( s )  f (0)
 dt  (differentiation wrt time)

Primes and dots are often used as alternative notations for the derivative.

Dots are almost always used to denote time derivatives.

Primes might denote either time or space derivatives.

In problems with both time and space derivatives, primes are space
derivatives and dots are time derivatives.
 Inverse Laplace Transformation
s 3  5s 2  9 s  7 s 3 A B
F (s)  s  2  s  2  
( s  1)( s  2) ( s  1)( s  2) s 1 s  2

f (t )   '(t )  2 (t )  Ae  t  Be  2t  1(t )

A and B same as in previous problem.

f (t )   '(t )  2 (t )  2e  t  e  2t  1(t )

 Inverse Laplace Transformation
s 2  2s  3 A B C A B C
F (s)       
( s  1) 3 2
s  1 ( s  1) ( s  1) 3
s  1 ( s  1) ( s  1)3
2

 C 
f (t )  Ae  t  Bte  t  t 2e  t  1(t ) f (t )  2e  t  t 2 e  t  1(t )
 2 
2
3 s  2s  3 3  A B C 
( s  1) 3
( s  1)   2
 3
( s  1)  s  1 ( s  1) ( s  1) 
s 2  2s  3 ( s  1) 2 A  ( s  1) B  C
 s 2  2 s  3  ( s  1) 2 A  ( s  1) B  C  C 2
s  1 s  1
d 
B   s 2  2s  3   2 s  2 s  1 0
 ds  s  1
 d2 2  d  2
A  2  s  2s  3   
 ds  2 s 2
 2 

 ds  s  1  s  1
 Laplace transforms are the
Solving DEs primary tool used to solve DEs in
control engineering.
2
When initial d L d L 2
 s 2
 s
conditions are zero: dt dt

 
n
 t d L n
L f ( )d ? n
 s
 0 dt
For non zero d 
L  y (t )  sY ( s )  y (0)
initial conditions  dt 
 d2   d3   dn 
L  2 y (t )  ? L  3 y (t )  ? L  n y (t )  ?
 dt   dt   dt 
Solving DEs 
x  3 x  2 x 0, x(0) a, x(0) b
 s X ( s )  sx(0)  x (0)   3  sX ( s )  x(0)   2 X ( s) 0
2

 s 2  3s  2  X ( s ) sa  b  3a
sa  b  3a sa  b  3a A B
X (s)  2   
s  3s  2 ( s  1)( s  2) s  1 s  2
t  2t
  t  2t
x(t )  Ae  Be  1(t )  (2a  b)e  (a  b)e  1(t )
 sa  b  3a   sa  b  3a 
A   B   
 s  2  s  1  s  1  s  2
b  2a B  b  a
Solving DEs 
x  2 x  5 x 3, x(0) 0, x(0) 0
2 3
s X ( s )  2 sX ( s )  5 X ( s )  A .6
s B  .3  .15 j
3
 s  2 s  5 X ( s ) 
2
j 2.6779
s .3354e
3 B  .3  .15 j
X (s) 
s ( s  1  2 j )( s  1  2 j )  j 2.6779
.3354e
A B B
X (s)   
s s 1  2 j s 1  2 j
 (1 2 j ) t  (1 2 j ) t
x(t )  A  Be  Be  1(t )
No j’s in final answer.