ME 467: System Dynamics and Automatic Control

EE351: Principles of Automatic Control

Chapter 2
LAPLACE TRANSFORMS
Dr. Hanafy M. Omar

One needs to go to the other side of the mountain.

How?

Transformation Definition

Transforms -- a mathematical conversion

from one domain (form) to another to make
a problem easier to solve

problem
in original
form

solution
in original
form
transform

solution
in transform
way of
thinking

inverse
transform

Laplace Transform
problem
in time
domain

solution
in time
domain
Laplace
transform

solution
in
s domain

Other transforms
Fourier
z-transform
wavelets

inverse
Laplace
transform

Nature of the Laplace Transform

Why study Laplace Transforms

The Laplace Transform provides a tool for the rapid solution of
ordinary constant coefficient linear differential equations
It gives us a straight forward procedure to solve and analyze
dynamic systems.
Nature of the Laplace Transform

L(f(t))
Laplace Domain
Differential
Equation
f(t)

Algebraic
Equation
f(s)

Time Domain
Non
Differential
Equation
f(t)

L-1(f(s))

Algebraic
Manipulation

Algebraic
Equation
f(s)

Laplace Transform

L[ f (t )] F ( s ) f (t )e dt
st

Complex Number

Convert time-domain functions and operations

into frequency-domain

f(t) F(s) (tR, sC)

Linear differential equations (LDE) algebraic
expression in Complex plane

Graphical solution for LDE characteristics

The Complex Plane (review)

Imaginary axis (j)

Real axis

y
x

| u | r | u | x y

u tan

u x jy

u x jy
(complex) conjugate

Basic Theorems of Linearity

L[ Kf (t )] KL[ f (t )] KF ( s )

L[ f1 (t ) f 2 (t )] L[ f1 (t )] L[ f 2 (t )]
F1 (s) F2 (s)

The Laplace transform of a product is

not the product of the transforms.

L[ f1 (t ) f 2 (t )] F1 ( s) F2 ( s)

Unit step function.

F (s ) f (t ) e dt
st

f(t) = u(t) = 1

F ( s ) (1)e dt
st

e 1
e
F ( s)
0

s 0
s s
st

Exponential Function
f (t ) e

F (s ) e

at

at

e dt e
st

( a s )t

dt

e
e

(s a ) 0
(s a )
( s a )t

s a

Exponential function multiplied

by another function
g (t ) e

at

f (t )

G (s ) e f (t ) e dt f (t ) e
at

st

F (s ) s s a F (s a)
Example

1
1
L [1*e ]

s s s a s a
at

(a s )t

dt

Derive the Laplace transform of the

sinusoidal function
1 j t

j t

L [ cos t )] L e
e
2

1
1
j t
j t
L [e ] L [e
]
2
2
1
1
1
1

2 s j 2 s j
s
2
2
s

Complex Differential Theorem

d
L [t f (t )] F (s )
ds
n

In general

d
L [t f (t )] (1)
F (s )
n
ds
n

example

d 1 1
L [t *1] 1
2
ds s s

Laplace Transforms of Common

Functions
Name
Impulse

f(t)
1
f (t )
0

F(s)
t 0
t 0

Step

f (t ) 1

1
s

Ramp

f (t ) t

1
s2

Exponential

f (t ) e at

1
sa

Sine

f (t ) sin(t )

1
2 s2

a is +ve

Example

f (t ) 50 u (t )
50
F (s)
s

Example

v(t ) 5e

2 t

sin 4t

4
V ( s) L[v(t )] 5
2
2
( s 2) (4)
20
20
2
2
s 4s 4 16 s 4s 20

Example
p(t ) 5cos 2t 3e

4 t

s
1
P( s) L[ p(t )] 5 2
3
2
s (2)
s4
5s
3
2

s 4 s4

Most mathematical handbooks have tables of

Laplace transforms

Inverse Laplace Transforms

by Identification
When

a differential equation is solved by

Laplace transforms, the solution is obtained as

a function of the variable s. The inverse

transform must be formed in order to determine

the time response. The simplest forms are

those that can be recognized within the tables

and a few of those will now be considered.

Example
5 12
8
F (s) 2
s s
s3

f (t ) 5 12t 8e

3t

Example
200
V (s) 2
s 100

10
V ( s) 20 2
2
s (10)

v(t ) 20sin10t

Determine the inverse transform of

the function below.
8s 4
V (s) 2
s 6 s 13

When the denominator contains a quadratic,

check the roots. If they are real, a partial
fraction expansion will be required. If they are
complex, the table may be used. In this case,
the roots are

s1,2 3 2i

Example 8. Continuation.

s 6s 13
2

s 6s (3) 13 (3)
2

s 6s 9 4
2

( s 3) (2)
2

Example, Cont.
8( s 3)
4 24
V (s)

2
2
2
2
( s 3) (2) ( s 3) (2)
8( s 3)
10(2)

2
2
2
2
( s 3) (2) ( s 3) (2)

v(t ) 8e

3t

cos 2t 10e

3t

sin 2t

Can a mechanic repair cars without tools?

LAPLACE TRANSFORMS
PARTIAL FRACTION
EXPANSION

Definition

Definition -- Partial fractions are several

fractions whose sum equals a given fraction

Purpose -- Working with transforms requires

breaking

complex

fractions

into

simpler

fractions to allow use of tables of transforms

Partial Fraction Expansions

s 1
A
B

( s 2) ( s 3) s 2 s 3
s 1
A( s 3) Bs 2)

( s 2) ( s 3)
( s 2) ( s 3)

3 A 2 B 1

s 1
1
2

( s 2) ( s 3) s 2 s 3

A B 1

Expand into a term for

each factor in the
denominator.
Recombine RHS
Equate terms in s and
constant terms. Solve.
Each term is in a form so
that inverse Laplace
transforms can be
applied.

Example
s6
s6
F ( s) 2

s 3s 2 ( s 1)( s 2)

A1
A2
s6
F ( s)

( s 1)( s 2) s 1 s 2
s 6
1 6
A1 ( s 1) F ( s) s 1

5
s 2 s 1 1 2

Example, cont.
A2 ( s 2) F ( s) s 2

s 6
2 6

s 1 s 2 2 1

5
4
F (s)

s 1 s 2
t

f (t ) 5e 4e

2 t

Example
50( s 3)
F (s)
2
( s 1)( s 2)( s 2 s 5)

A1
A2
F1 ( s )

s 1 s 2

Example, Cont.

50( s 3)
(50)(2)
A1

25

2
( s 2)( s 2s 5) s 1 (1)(4)

50( s 3)
(50)(1)
A2

10

2
( s 1)( s 2s 5) s 2 (1)(5)
t

f1 (t ) 25e 10e

2t

Example, Cont.
To get A and B, substitute by any two convenient
numbers, (i.e. s=0 and s=1)

50( s 3)
25
10
As B

2
2
( s 1)( s 2)( s 2s 5) s 1 s 2 s 2s 5

50(3)
25 10 B

(1)(2)(5) 1 2 5
50(4)
25 10 A B

(2)(3)(8) 2 3
8

B 25

A 15

25
10
15s 25
F (s)

2
s 1 s 2 s 2s 5

Example, cont.
15s 25
F2 ( s ) 2
s 2s 5

s 2s 5 s 2s 1 5 1 ( s 1) (2)
2

15s 25
15( s 1)
5(2)
F2 ( s )

2
2
2
2
( s 1) (2)
( s 1) (2) ( s 1) 2 (2) 2

f (t ) f1 (t ) f 2 (t )
t

25e 10e

2t

15e cos 2t 5e sin 2t

Example, Repeated Roots

60
F (s)
2
s( s 2)

C1
C2
60
A
F (s)

2
2
s ( s 2)
s ( s 2) ( s 2)
A sF ( s)s 0

60
60

15
2
2
( s 2) s 0 (0 2)

C1 ( s 2) F ( s)
2

s 2

60
60

30
s s 2 2

Example, Cont.
C2
60
15
30
F (s)

2
2
s( s 2)
s ( s 2) s 2
Let s=1, and solve for C2

C2
60
15
30

2
2
(1)(1 2)
1 (1 2) (1 2)

C2 15

60
15
30
15
F (s)

2
2
s ( s 2)
s ( s 2) s 2

f (t ) 15 30te

2 t

15e

2 t

2 t

15 15e (1 2t )

Repeated Roots General Form

Given

B( s) K s z1 ) s z2 ) s zm )
F ( s)

,
n
A( s)
s p)
It can be expressed as

for m n

bn
b1
b2
B( s )
F ( s)

...
1
2
n
A( s) s p ) s p )
s p)

n B( s)
bn
s p ) A( s )

s p

d
n B( s)
bn 1
s p)

ds
A( s ) s p

1
d n 1
n B (s )
s p)
b1

n 1
A (s ) s p
n 1)! ds

Laplace of Differentiated Functions

L[ f '(t )] sF ( s ) f (0)
L[ f "(t )] s F ( s) sf (0) f '(0)
2

L [f (t )] s F (s ) s
n

n 1

f (0) s

n 2

f '(0)....f

d f (t )
dt

f (t )

Note: s is called
Differentiation Operator

n 1

(0)

Laplace of Integrated Functions

F (s)

L f (t )dt
0

s
t

Note: 1/s is called Integrator operator

f (t )

1
s

f (t ) dt

Solve This Differential Equation

dy
y (0) 10
2 y 12
dt
dy
L 2L y L 12
dt
12
sY ( s ) 10 2Y ( s )
s
12
s 2 ) Y ( s) 10
s
10
12
Y (s)

s 2 s ( s 2)

Example
Solve the following differential equation

dy
2 y 12sin 4t
dt

y (0) 10

12(4)
sY ( s ) 10 2Y ( s ) 2
s 16

10
48
Y ( s)

s 2 ( s 2)( s 2 16)
B1s B2
48
A

2
2
( s 2)( s 16) s 2 s 16

Example, cont.
48
48
A 2

2.4

s 16 s 2 20

48
2.4 B1s B2

2
2
( s 2)( s 16) s 2 s 16
48
2.4 B2

(2)(16)
2 16
48
2.4 B1 B2

(1)(17)
1
17

B2 4.8
B1 2.4

Example, Cont.
10
2.4
2.4 s
4.8
Y (s)

2
2
s 2 s 2 s 16 s 16
y (t ) 12.4e

2 t

2.4 cos 4t 1.2sin 4t

Example
2

d y
dy
3 2 y 24
2
dt
dt
y (0) 10 and y '(0) 0

24
s Y ( s ) 10 s 0 3 sY ( s ) 10 2Y ( s )
s
2

24
10 s 30
Y (s)
2
2
s ( s 3s 2) s 3s 2
24
10 s 30

s ( s 1)( s 2) ( s 1)( s 2)

Example, Cont.
24
12 24
12

s ( s 1)( s 2) s s 1 s 2
10s 30
20
10

( s 1)( s 2) s 1 s 2
12
4
2
F (s)

s s 1 s 2
t

f (t ) 12 4e 2e

2 t

Example
2

d y
dy
2 5 y 20
2
dt
dt
y (0) 0 and y '(0) 10

20
s Y ( s ) 0 10 2 sY ( s) 0 5Y ( s)
s
2

20
10
Y ( s)
2
2
s ( s 2s 5) s 2s 5

Example, Cont.
20
4
As B
2
2
s ( s 2s 5) s ( s 2 s 5)

20
4
A B

(1)(1 2 5) 1 (1 2 5)
20
4
A B

(1)(1 2 5) 1 (1 2 5)

A 4

B 8

Example, Cont.
4
4 s 8
10
4
4 s 2
Y (s) 2
2
2
s s 2s 5 s 2s 5 s s 2s 5

s 2s 5 s 2s 1 5 1 ( s 1) (2)
2

4
4( s 1)
3(2)
Y ( s)

2
2
s ( s 1) (2) ( s 1) 2 (2) 2
t

y (t ) 4 4e cos 2t 3e sin 2t

Initial- and Final-Value Theorems

For the given differential equations find the initial and final
value of y(t)

y ( t ) 6 y ( t ) 8 y ( t ) 2u ( t )

Summary
Steps for Solving an ODE
d2y
dy

6
8 y 2 y (0) y ' (0) 0 ODE w/initial conditions
2
dt
dt
s 2 Y ( s) 6s Y ( s) 8 Y ( s) 2 / s

2
Y ( s)
s ( s 2) ( s 4)
1
1
1
Y ( s)

4s 2 ( s 2) 4 ( s 4)
1 e 2t
e 4t
y (t )

4
2
4

Apply Laplace transform

to each term
Solve for Y(s)
Apply partial fraction
expansion
Apply inverse Laplace
transform to each term

* Apply Initial- and Final-Value Theorems

y ( t ) 6 y ( t ) 8 y ( t ) 2u ( t )
2
Y ( s)
s ( s 2) ( s 4)
2 (0)
1
limt f (t )

(0) (0 2) (0 4) 4
2 ()
limt 0 f (t )
0
() ( 2) ( 4)

Laplace
transform of the
function.

Apply final-value
theorem

Apply initialvalue theorem