Automatic Control I

Laplace Transform

By Vasfi Emre Ömürlü, Ph.D.

Laplace Transform:
Properties
Theorems
Partial Fraction Expansion

By Vasfi Emre Ömürlü, Ph.D., 2005 2

By Vasfi Emre Ömürlü, Ph.D. 1

 Laplace Transform
It is advantageous to solve linear diff. equations by…
By using, we can convert many common functions into
algebraic equations of a complex variable “s”.
Operations like differentiation and integration can be replaced
by algebraic equations.
A linear differential equations can be transformed into an
algebraic equation.
If the algebraic equation in s is solved for the dependent
variable, then the solution of the differential equation may be
found by use of a Laplace Transform Table or by use of the
Partial Fraction Expansion Technique.

By Vasfi Emre Ömürlü, Ph.D., 2005 3

Advantage of the Laplace

Transform

It allows the use of graphical techniques for predicting the

system performance without actually solving system diff.
equations.
When we solve the differential equation, both the transient
and steady-state component of the solution can be obtained
simultaneously.

By Vasfi Emre Ömürlü, Ph.D., 2005 4

By Vasfi Emre Ömürlü, Ph.D. 2

 Some dynamic systems and their
mathematical representations
b f(t) k b  y + k  ( y − x) = f (t )
m
m  x + k  ( x − y ) = 0
y x

m  x + b  x + k  x = f (t )

Valve to adjust the

flow rate Q3 between
Automatic control valve to adjust the tanks
liquid levels of the tanks by
controlling the flap angle 

Q1 q1
dh1
A1 = Q1 − a1 h1 − a3 h1 − h2
dt
Discharge Discharge
h1 valve dh
Q2
valve h2 A2 2 = −a2 h2 − a3 h1 − h2
Q3 Q4 dt

By Vasfi Emre Ömürlü, Ph.D., 2005 5

Complex Variable
A complex number has real and imaginary parts s =  + j
which are both constants. When both of these are
variables, it is said to be complex variable.
G ( s ) = Gx + jG y
A complex function G(s) has a real part and
G ( s ) = Gx + G y
2 2
imaginary part where Gx and Gy are real quantities.
Gy
G ( s ) = tan −1
Gx
Complex functions are commonly encountered in
linear control systems and are single valued
functions of s.

By Vasfi Emre Ömürlü, Ph.D., 2005 6

By Vasfi Emre Ömürlü, Ph.D. 3

 Euler`s Theorem
2 4 6
cos = 1 − + − + ...
2! 4! 6!
3 5 7
sin  =  − + − + ...
3! 5! 7!

( j ) 2 ( j )3 ( j ) 4
cos + j sin  = 1 + ( j ) + + + + ...
2! 3! 4!

( x) 2 ( x) 3 ( x) 4
Since e x = 1 + ( x) + + + + ...
2! 3! 4!

cos  + j sin  = e j Euler’s theorem

Also cos  − j sin  = e − j

By Vasfi Emre Ömürlü, Ph.D., 2005 7

(Inverse) Laplace Transform

definitions and its existence
f(t)=a function of time t such that f(t)=0 for t<0
s=a complex variable

L f(t) = F ( s) =  f (t )  e − st dt
L=Laplece transform notation
F(s)=Laplace transform of f(t)

0
The reverse process of Laplace Transform is also possible and is called Inverse Laplace Transform
with notation L-1
Generally, we do not use this integral function to find Laplace Transform of a function. We use
simpler methods.

The Laplace Transform of a function f(t) exists if the Laplace integral converges which will converge
if f(t) is sectionally continuous in every finite interval in the range t>0 and if it is of exponential order
as t approaches infinity.

By Vasfi Emre Ömürlü, Ph.D., 2005 8

By Vasfi Emre Ömürlü, Ph.D. 4

 Some Common Laplace Transforms
as examples…
Step function
0 for t  0
f(t) = 
step
A for t  0
7
signal strength (signal unit)

6

L f (t ) =  A  e − st dt =
5
4
A
3
2
1 0
s
0
0 2 4 6 8 10 12
time(sec)

The step function whose height is unity is called unit-step function. The unit-step function that
occurs at t=to is frequently written as 1(t-to).

By Vasfi Emre Ömürlü, Ph.D., 2005 9

Some Common Laplace Transforms

as examples…
Exponential function

 0 for t  0
f(t) =  − at
Ae for t  0
exp decay

6
signal strength (signal unit)

5
 
L f (t ) =  A  e − at  e − st dt = A   e −( s + a ) t dt
4

0 0 1

L f (t ) =
A 0 2 4 6
time(sec)
8 10 12

s+a

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By Vasfi Emre Ömürlü, Ph.D. 5

 Some Common Laplace Transforms
as examples…
Ramp function

 0 for t  0
f(t) = 
At for t  0
 
L f (t ) = A  t  e − st dt = A  te − st dt
 
ramp

signal strength (signal unit)

0 0 6

 
5

e − st e − st 4

= At 
−s 
− A
− s
dt 3
2
0 0 1

 0
A
= 
 e − st dt =
0 2 4 6 8 10 12
A
time(sec)
s 2
0
s

By Vasfi Emre Ömürlü, Ph.D., 2005 11

11

Some Common Laplace Transforms

as examples…
Sinusoidal function

 0 for t  0
f(t) =  recall A sin t = (
A j t
e − e − jt )
 A  sin t for t  0 2j
A  ( j − s ) t 
 
L f (t ) =
A
 ( )
e jt − e − jt  e − st dt =   e
2 j 0

dt −  e −( j + s )t dt 
2j 0 
0

A  1 1  A
=  − =
2 j  s − j s + j  s 2 +  2
sine

6
signal strength (signal unit)

-2

-4

-6
0 2 4 6 8 10 12
time(sec)

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By Vasfi Emre Ömürlü, Ph.D. 6

 Most Used Laplace
Transformations
f(t) F(s)
A A/ s
At A / s2
At n A  n! / s n +1
A  e − at A /( s + a)
A  sin( a  t ) A  [a /( s 2 + a 2 )]
A  cos( a  t ) A  [ s /( s 2 + a 2 )]
A  e − bt sin( a  t ) A  a /[ (s + b ) + a 2 ]
2

A  e − bt cos( a  t ) A  ( s + b) /[ (s + b ) + a 2 ]
2

By Vasfi Emre Ömürlü, Ph.D., 2005 13

13

Shapes of mostly used signals

8 At n
A
signal strength (signal unit)

6 At
A  e − at
4

-2
A  e − bt sin( a  t )
A  e − bt cos( a  t )
-4
A  cos( a  t ) A  sin( a  t )
-6
0 2 4 6 8 10 12
time(sec)

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By Vasfi Emre Ömürlü, Ph.D. 7

 Laplace Transform properties –
superposition
f(t) =   f1 (t ) +   f 2 (t )

L  f1 (t ) +   f 2 (t ) =    f1 (t ) +   f 2 (t ) e − st  dt
0
 
=    f1 (t )  e − st  dt +    f 2 (t )  e − st  dt

0
  
0
 
L  f1 ( t ) L  f 2 ( t )

=   F1 ( s ) +   F2 ( s )

Scaling property: L  f1 (t ) =   F1 ( s )

By Vasfi Emre Ömürlü, Ph.D., 2005 15

15

Laplace Transform properties – time

delay

By Vasfi Emre Ömürlü, Ph.D., 2005 16

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By Vasfi Emre Ömürlü, Ph.D. 8

 Laplace Transform properties – time
delay
Suppose f(t) is delayed by λ>0. The Laplase transform of the function,

L f1 (t ) =  f (t −  )  e − st  dt
0
Define a new variable, t’=t- λ, and then, dt’=dt, f(t)=0 for t<0
  f(t)

  dt ' =  f (t ' )  e − st '  e

− s (t '+  ) − s
F1 ( s) = f (t ' )  e  dt '
− 0 const A/t0

=e − s
  f (t ' )  e  dt ' = e
− st ' − s
 F (s)

0

L  f ( t )= F ( s )

L f (t −  ) = e
0 t0 λ λ+t0
− s
 F ( s)
By Vasfi Emre Ömürlü, Ph.D., 2005 17

17

Laplace Transform properties –

differentiation
d 
L  f (t ) = sF ( s ) − f (0)
 dt 
 d2 
L  2 f (t ) = s 2 F ( s ) − sf (0) − f (0)
 dt 
 dn 
L  n f (t ) = s n F ( s ) − s n −1 f (0) − s n − 2 f (0) − ........ − sf ( n − 2 ) (0) − f ( n −1) (0)
 dt 

f(0) is the initial condition of the function and df(0)/dt is the initial condition of the derivative of
the function. For instance, if f(t) is representing the position of a mechanical system, position
initial condition will be f(0) and velocity initial condition will be df(0)/dt.

By Vasfi Emre Ömürlü, Ph.D., 2005 18

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By Vasfi Emre Ömürlü, Ph.D. 9

 Some Common Laplace Transforms
as examples…
Pulse function
f(t)

A
 for 0  t  t0  A A
f(t) =  t0  f (t ) = 1(t ) − 1(t − t0 )
t  t0 
A/t0  0 t0 t0
for t  0,
A  
 
A  
L f (t ) =   1(t ) − 1(t − t0 )   e − st dt =    1(t )  e − st dt −  1(t − t0 )  e − st dt 
A
0 0  0 0 
t t 0 t 0

A A − st 0 A − st 0
= − e = (1 − e )
t0 s t0 s t0 s
t
0 t0

Here, A and t0 are all constants. The pulse function may be considered as a step function of
height A/t0 that begins at t=0 and that is superimposed by a negative step function of height
A/t0 beginning at t=t0.

By Vasfi Emre Ömürlü, Ph.D., 2005 19

19

Some Common Laplace Transforms

as examples…
Impulse function  A
lim for 0  t  t0
f(t)
f(t) = t0 →0 t0
 0 for t  0, t  t0

L f (t ) = lim
A
A/t0 (1 − e − st 0 )
t0 →0 t s
0

d
dt0

A(1 − e − st 0 ) 
= lim = As / s = A
d
(t0 s )
t0 →0

t dt0
0,t0

Since the height of the impulse function is A/t0 and duration is t0 , the area under the impulse is
A. when t0 approaches 0, area remains A. Note that the magnitude of the impulse is measured
by its area.
The impulse function whose area is equal to unity is called unit-impulse function or the Dirac
delta function.

By Vasfi Emre Ömürlü, Ph.D., 2005 20

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By Vasfi Emre Ömürlü, Ph.D. 10

 Laplace Transform theorems – Final
Value Theorem
The final value theorem relates the steady-state behavior of f(t) to the behavior of sF(s) in the
neighborhood of s=0. This theorem applies if and only if lim f(t) exists when t approaches
infinity which means that f(t) settles down to a definite value for t = infinity. If all poles of sF(s)
lie in the left half s plane (complex plane), this limit exists.

lim f (t ) = lim sF ( s)
t → s →0

By using this method, we obtain the scalar value of a already-Laplace-transformed function at

t=infinity without transforming back to the time domain.
Example: find the steady-state value of the following function.
3( s + 2)
Y ( s) = poles − are − on − LHP
s ( s + 2 s + 10)
2
 
− 2  4 − 410
poles:
2

3( s + 2)
lim y (t ) = lim sY ( s ) = lim s = 3/ 5
t → s →0 s →0 s ( s + 2 s + 10)
2

By Vasfi Emre Ömürlü, Ph.D., 2005 21

21

Laplace Transform theorems –

Initial Value Theorem and DC Gain
By using this theorem, we are able to find the value of f(t) at t=0+ directly from the Laplace
transform of f(t). The initial value theorem is stated as: if f(t) and its derivative are both
transformable

f (0+) = lim sF ( s)
s →
  
should − exist

DC gain is the ratio of the output of a system to its input after all transient have decayed. G(s) is
the transfer function of a system which defines the input-output dynamics of that system in s-
domain.

DC − Gain = lim G ( s )
s→0

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By Vasfi Emre Ömürlü, Ph.D. 11

 Partial Fraction Expansion
Why do we need?
Inverse Laplace Transform can be applied by using inversion integral theorem, yet
this method would be cumbersome. Thus, it will be easier, generally, to split a function in s-
domain to simpler forms whose transformations can be reached from Laplace tables.

called
th m 
zeros
mdeg ree . polynomial. with .m. zi . roots

m −1
B( s ) b1  s + b2  s + ...... + bm +1
m  ( s − zi )
F (s) = = = K i =n1
s n + a1  s n −1 + ...... + an

A( s )
 (s − p j )
n th deg ree . polynomial. with .n. p j .roots j =1

called
poles

= F1 ( s ) + F2 ( s ) + F3 ( s ) + ......  L F ( s ) = L F1 ( s )+ L−1F2 ( s )+ L−1 F3 ( s )+ ......

−1 −1

f (t ) = f1 (t ) + f 2 (t ) + f 3 (t ) + .......
Depending on the roots of the denominator of the function in s-domain which is called “poles”
there are three cases for partial fraction expansion:
1. Denominator has distinct roots, 2. Denominator has complex roots, 3. Denominator has
repeated roots.

By Vasfi Emre Ömürlü, Ph.D., 2005 23

23

Partial Fraction Expansion – Distinct

Poles
If poles are distinct, above equation can be separated into n parts…
C1 C2 Cn
F (s) = + + ... + , for C1
( s − p1 ) ( s − p 2 ) (s − pn )
 C1 C2 Cn 
( s − p1 )  F ( s ) = ( s − p1 )   + + ... + 
 ( s − p1 ) ( s − p 2 ) (s − pn ) 
 
 ( s − p1 )  C 2 ( s − p1 )  C n 
( s − p1 )  F ( s ) s → p = C1 + + ... +  = C1
1
 (s − p2 ) (s − pn ) 
 
 0 0  s → p
1

C1 = ( s − p1 )  F ( s ) s = p
1

General solution if all poles are distinct.

If some of the poles are distinct, same formula
is used to find the “C” constants. C n = (s − pn )  F (s) s = p
n

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By Vasfi Emre Ömürlü, Ph.D. 12

 Partial Fraction Expansion –Distinct
Complex Poles
If some or all poles are complex…
1 C C s + C3 1
F ( s) = = 1 + 22 , C1 = s  F ( s ) s →0 = =1
s ( s 2 + s + 1) s
 s + s +1 ( s 2 + s + 1) s →0 1,2

solve.as
usual

1 C s + C3 (C2 + 1) s 2 + (C3 + 1) s + 1
1
1
= + 2 = 
s ( s 2 + s + 1) s s 2 + s + 1 s s2 + s +1 ( )
0,8
arrange
  
s +1

signal strength (signal unit)

1
(C2 + 1) s + (C3 + 1) s + 1 = 1  C2 = −1,
2
C3 = −1  F ( s ) = − 2
s s + s +1 0,6 step
sine decay

s +1/ 2 +1/ 2 s +1/ 2 1 3/2 cosine decay

 2
= 2
+ 2 0,4
f(t)

 3  3 3  3
( s + 1 / 2) + 2

 ( s + 1 / 2) + 
2

 ( s + 1 / 2) 2 +  

 2   2   2  0,2

1 s +1/ 2 1 3/2
F ( s) = − 2
− 2
s  3 3  3 0

( s + 1 / 2) 2 +   ( s + 1 / 2) 2 +  
 2   2 

-0,2
−t 3 1 −t 2 3 0 2 4 6 8 10
f (t ) = 1 − e 2
cos t− e sin t time(sec)
2 3 2

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25

Partial Fraction Expansion –

Repeated Poles
1,2
If some or all poles are repeated…

s 2 + 2 s + 3 C1 C2 C3
F (s) = = + +
1

( s + 1) 3 s + 1 (s + 1)2 (s + 1)3
+ 2s + 3 3 C C3 
2
(s + 1)3 s = (s + 1)  1 +
C2
+ 3
= (s + 1) C1 + (s + 1)C2 + C3
2 0,8
signal strength (signal unit)

 s + 1 (s + 1) (s + 1) 
f(t)
( s + 1) 3 2
e^-t

(s + 1)3 F ( s) s→−1 = C3 = 2, also d

ds
  
(s + 1)3 F ( s) = d (s + 1)2 C1 + (s + 1)C2 + C3
ds
 0,6
t^2*e^-t

d
 

 (s + 1) F ( s )  = C2 = 2 s + 2 s→−1 = 0
 ds
3

 s→−1
0,4

differentiating again
1  d2

2  ds 2
 

(s + 1)3 F ( s)  = C1 =
1
2 =1 0,2

 s →−1
2
1 0 2
F (s) = + +  f (t ) = e −t + t 2 e −t
s + 1 (s + 1)2 (s + 1)3
0
0 2 4 6 8 10
time(sec)

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By Vasfi Emre Ömürlü, Ph.D. 13

 Example: Tank Dynamics
A process tank dynamics is given as ;
H (s) 1
=
Q( s) s + 10
Q(s) varies in repeatedly as;

-Find h(t) in response to q(t)

-Discuss about the magnitude of h(t) at t = 105

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27

Example: Tank Dynamics

1
H ( s) =  Q( s ) We need to find Q(s) in order to solve for H(s) then for h(t)
s + 10
For the first ramp in I
I
In order to turn the
first ramp in I into a
step. Will be effective
after T seconds II
In order to turn the
step in II into a
negative ramp in III.
Will be effective after
2T seconds
III
In order to turn the
negative ramp in III IV
into 0 in IV. Will be
effective after 3T
seconds
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By Vasfi Emre Ömürlü, Ph.D. 14

 Example: Tank Dynamics

Q( s) =
Q0 / T
s2
Q0 / T
− e − sT 
s2
Q /T
− e − 2 sT  02
s
Q0 / T
+ e −3 sT  2
s
1/s2 is the common term for every
sub-input. Other terms are
constants and time delay factors.
So, solve only for 1/s2 and then
By Vasfi Emre Ömürlü, Ph.D., 2005
apply for all system. 29

29

Example: Tank Dynamics

1 C1 C 2 C3
H ( s) = = + 2 +
(s + 10)  s 2 s s s + 10
1 1
C3 = ( s + 10) H ( s) = =
s = −10 s2 s = −10 100
1 1
C 2 = s H ( s) =
2
=
s =0 s + 10 s =0 10
d 2  d  1  −1 −1
C1 =  s H ( s) =   = =
 ds  s =0 ds  s + 10  s =0 (s + 10)
2
s =0 100
− 1 / 100 1 / 10 1 / 100
H ( s) = + 2 +
s s s + 10

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By Vasfi Emre Ömürlü, Ph.D. 15

 Example: Tank Dynamics
−1 t 1 −10t −1 1
h(t ) = + + e  h(t ) = + t + e −10t
100 10 100 10 10
h(t) for only 1/s^2

0,9

0,8

0,7

0,6

0,5

This result is only for 1/s2 0,4

input, yet other input 0,3

responses can be 0,2

generated by this response 0,1
because of the 0
superposition and scaling 0 0,2 0,4 0,6 0,8 1
properties of Laplace time (sec)

Transform

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Example: Tank Dynamics

Overall system response is
  − Q0 / T Q / T −10t 
  + (Q0 / T )t + 0 e  for t T
  10 10 
  − Q0 / T + (Q / T )t + Q0 / T e −10t − 
  10 0
10 
   " T  t  2T
  − Q0 / T + (Q / T )(t − T ) + Q0 / T e −10( t −T ) 
  10 0
10 
 − Q /T Q / T −10t 
 0
+ (Q0 / T )t + 0 e − 
  10 10

  − Q0 / T Q0 / T −10(t −T )  tank height, h(t)
 + (Q0 / T )(t − T ) + e − " 2T  t  3T
 10 10
h(t ) =    0,35

  − Q0 / T + (Q0 / T )(t − 2T ) + Q0 / T e −10( t − 2T ) 

 
0,3
  10 10  0,25
 − Q / T Q / T 
height (m)

 0
+ (Q0 / T )t + 0 e −10t − 
0,2

 10 10
 0,15
  − Q0 / T
− 
Q0 / T −10( t −T )
+ (Q0 / T )(t − T ) +
0,1
 e

 10 10
 " 3T  t  
0,05

  − Q0 / T Q0 / T −10( t − 2T )  0
 + (Q0 / T )(t − 2T ) + e + 0 0,5 1 1,5
10 10 
 time (sec)

  − Q0 / T Q0 / T −10( t −3T ) 

 10 + (Q0 / T )(t − 3T ) + 10 e 
By Vasfi Emre Ömürlü, Ph.D., 2005 32

32

By Vasfi Emre Ömürlü, Ph.D. 16

 Example: A Mass-Damper-Spring
System

?
System mathematical model

x(0) = −0,05m mx + bx + kx = f (t )

x (0) = 0
f (t ) = 1N
m = 1kg
b = 30 N / m / sec 1 1 1 1 1 1
F ( s) = − e − sT 2 − e − sT 2 + e −3sT 2 + e −4 sT 2 − e −5 sT 2
k = 200 N / m s2 s s s s s
x(t ) = ?
By Vasfi Emre Ömürlü, Ph.D., 2005 33

33

Example – Dynamic System

Response by Laplace Transform

t
G(s)=1/(s+2) ?
Dynamic response of the
1 0  t 1 system above is required
u (t)=  against a second longing Y (s) = G (s)  U (s)
0 1 t  
pulse function.

 1   1 1 −s 
=  − e 
1 1  s + 2 s s 
u ( s) = −    e − s
s s

By Vasfi Emre Ömürlü, Ph.D., 2005 34

34

By Vasfi Emre Ömürlü, Ph.D. 17

 Example – Dynamic System
Response by Laplace Transform
 1   1   c1   c2 
Y (s ) =    =  + 
s + 2 s  s + 2  s  1

c1 = ( s + 2)  Y ( s) s = −2 = −0,5
t

c2 = s  Y ( s ) s =0 = 0,5 Response of the System to a

second long pulse

− 0,5   0,5 
Y (s ) = 
0,5

 s + 2  +  s 

system output
0,4
0,3

 1   1  −5
0,2
Y (s ) =   e One-second
 s + 2   s 
0,1
delayed of YI(s). 0
0 1 2 3

 −2t
− 0,5e + 0,5 0  t 1 time (sec)
y (t ) = 
 − 2t
− 0,5e + 0,5 + 0,5e
− 2 ( t −1)
− 0,5 1  t  
By Vasfi Emre Ömürlü, Ph.D., 2005 35

35

Ex-1 (Time delay)

 1 , 0  t 1
 
u(t) =  0 , 1  t  3 
 −1 , 3  t   
 

L u(t) = ?

By Vasfi Emre Ömürlü, Ph.D., 2005 36

36

By Vasfi Emre Ömürlü, Ph.D. 18

 Ex-1
L f (t −  ) = e − s  F ( s )

 1 
 s =0 
 
 −1 
U(s) =   e − s  =1 
 s 
 −1 − s 
 s e =3 
 

1 1 1
U(s) = −    e − s −    e −3s
s s s
By Vasfi Emre Ömürlü, Ph.D., 2005 37

37

Ex-2 (Differentation)

•• •
y − 10 y + 9y = 5t
y(0) = −1
•
y(0) = 2

Find the Laplace Transform of this

equation…

By Vasfi Emre Ömürlü, Ph.D., 2005 38

38

By Vasfi Emre Ömürlü, Ph.D. 19

 Ex-2

d 
L  f (t ) = sF ( s ) − f (0)
 dt 
 d2 
L  2 f (t ) = s 2 F ( s ) − sf (0) − f (0)
 dt 
 dn 
L  n f (t ) = s n F ( s ) − s n −1 f (0) − s n − 2 f (0) − ........ − sf ( n − 2 ) (0) − f ( n −1) (0)
 dt 

By Vasfi Emre Ömürlü, Ph.D., 2005 39

39

System Response
12

10

Ex-2


6
magnitude

•• •
L y = s 2  Y(s) − s  y(0) − y(0) 4

L y = s  Y(s) − y(0)

2
•
0

L y = Y(s)
-2
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
time (sec)

5
L 5t =
s2 5
Y(s) s 2 − 10s + 9  + s − 12 =
s2
5 s − 12
Y(s) = 2 − 2
s (s − 9)(s − 1) s (s − 9)(s − 1)
By Vasfi Emre Ömürlü, Ph.D., 2005 40

40

By Vasfi Emre Ömürlü, Ph.D. 20

 Ex-3 (Distinct Poles)

s+2
F(s) =
(s − 9)(s − 1)

Find the Inverse Laplace Transform of this

equation…

By Vasfi Emre Ömürlü, Ph.D., 2005 41

41

Ex-3

s+2 A B
F(s) = = +
(s − 9)(s − 1) s − 9 s − 1

C n = (s − pn )  F (s) s = p
n

11
A = (s − 9)F(s) s = 9 =
8
−3
B =  (s − 1)F(s) s =1 =
8
By Vasfi Emre Ömürlü, Ph.D., 2005 42

42

By Vasfi Emre Ömürlü, Ph.D. 21

 Impulse Response
20

18

16

14

Ex-3 12

Amplitude
10

−3
6

11 4

F(s) = 8 + 8
2

s − 9 s −1
0 0.05 0.1 0.15 0.2 0.25 0.3
Time (sec)

f (t) = L−1 F(s)

11 9 t 3 t
f (t) = e − e
8 8
By Vasfi Emre Ömürlü, Ph.D., 2005 43

43

Ex-4 (Repeated poles)

s + 25
F(s) = )
s2 (s − 5)

Find the Inverse Laplace Transform of this

equation…

s + 25 A B C
F(s) = )= + 2 +
s (s − 5)
2
s s s−5
By Vasfi Emre Ömürlü, Ph.D., 2005 44

44

By Vasfi Emre Ömürlü, Ph.D. 22

 Ex-4
30 6
C =  (s − 5)F(s) s =5 = =
25 5
B =  (s 2 )F(s)  s = 0 = −5
d  d  s + 25 
A =  (s 2 )F(s)  =  
 ds s = 0 ds  s − 5 s = 0
d  s + 25   (s − 5) − (s + 25)  −30 −6
  =  = =
ds  s − 5 s = 0  (s − 5) 2
s = 0 25 5

By Vasfi Emre Ömürlü, Ph.D., 2005 45

45

Impulse Response
12

10

Ex-4
Amplitude

6 6
5 2

F(s) = 5 − 2 − 5
s−5
0

s s 0 0.05 0.1 0.15 0.2 0.25

Time (sec)
0.3 0.35 0.4 0.45 0.5

f (t) = L F(s)
−1

6 6
f (t) = − 5t − e 5t
5 5

By Vasfi Emre Ömürlü, Ph.D., 2005 46

46

By Vasfi Emre Ömürlü, Ph.D. 23

 Ex-5

L1/L2 =1/2
M=1 kg
R=60Nsec/m
K=800N/m
F(t)=1 N
- Find y(t)

Y(s) L1 1
= 
F(s) L2 ms + rs + k
2

By Vasfi Emre Ömürlü, Ph.D., 2005 47

47

Ex-5

 F0   F0   F0   F0 
 T  T  T  T
F(s) =   − e − st   − e −2st   + e −3st  
2 2 2 2
s s s s

By Vasfi Emre Ömürlü, Ph.D., 2005 48

48

By Vasfi Emre Ömürlü, Ph.D. 24

 Ex-5
Y(s) L1 1
= 
F(s) L 2 ms + rs + k
2

L1 1
Y(s) =   F(s)
L2 ms + rs + k
2

1 1 1 Common term for every sub-input

Y(s) =  2  2
2 s + 60s + 800 s

1 1 1 C C C3 C4
Y(s) =  2  2 = 1 + 22 + +
2 s + 60s + 800 s s s (s + 40) (s + 60)
By Vasfi Emre Ömürlü, Ph.D., 2005 49

49

Ex-5
1
C2 = s 2 Y(s)  s = 0 =
1600
d  d 1 
C1 =   s2  Y(s)  =   2 
 ds   ds s + 60s + 800 s = 0
 −2s − 60 
= 2 2 
= −9  10−5
 (s + 60s + 800) s = 0
 1 
C3 = (s + 40)Y(s) s =−40 =  2  = 1,56 10 −5
 2s (s + 60)  s =−40
 1 
C4 =  (s + 60)Y(s) s =−60 =  2  = −6, 9  10−6
 2s (s + 40)  s =−40

By Vasfi Emre Ömürlü, Ph.D., 2005 50

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By Vasfi Emre Ömürlü, Ph.D. 25

 Ex-5

−9  10−5 6, 25 10−4 1,56 10−5 −6, 9 10 −6

Y(s) = + + +
s s2 s + 40 s + 60
−5 t −6 t
y(t) = −9  10−5 + 6, 25  10 −4  t + e −1,5610 + e −6,910

By Vasfi Emre Ömürlü, Ph.D., 2005 51

51

Ex-5

Overall system response:

−5 t −6 t
I = −9  10−5 + 6, 25  10−4  t + e −1,5610 + e −6,910
II = −9  10−5 + 6, 25  10−4  ( t − T ) + e −1,5610
−5( t − T ) −6( t − T )
+ e −6,910
III = −9  10−5 + 6, 25  10−4  ( t − 2T ) + e −1,5610
−5( t − 2 T ) −6( t − 2 T )
+ e −6,910
IV = −9  10−5 + 6, 25  10 −4  ( t − 3T ) + e −1,5610
−5( t − 3T ) −6( t −3T )
+ e −6,910

By Vasfi Emre Ömürlü, Ph.D., 2005 52

52

By Vasfi Emre Ömürlü, Ph.D. 26

 Ex-5

Overall system response:

 tT y(t) = (F0 / T)  I

 T  t  2T y(t) = (F0 / T)  ( I − II ) 
 
 
 2T  t  3T y(t) = (F0 / T)  ( I − II − III ) 

 3T  T   y(t) = (F0 / T)  ( I − II − III + IV ) 


By Vasfi Emre Ömürlü, Ph.D., 2005 53

53

Ex-5

Final value teorem:

lim f (t ) = lim sF ( s )
t → s →0

−5 t −6 t
y(t) = −9  10−5 + 6, 25 10 −4  t + e −1,5610 + e −6,910
lim y(t) = −9 10−5 +  + 1 + 1 = 
t →

1 1 1
Y(s) =  
2 s2 + 60s + 800 s 2
1 1 1 1
lim sY(s) =  2  = =
s→0
2 s + 60s + 800 s 0
lim y(t) = lim sY(s)
t → s→0
By Vasfi Emre Ömürlü, Ph.D., 2005 54

54

By Vasfi Emre Ömürlü, Ph.D. 27

 Ex-5

Initial value teorem:

f (0+) = lim sF ( s)
s →
  
should − exist

1 1 1
Y(s) =  2  2
2 s + 60s + 800 s
1 1 1 1
y(0+ ) = lim sY(s) =  2  = =0
s →
2 s + 60s + 800 s 
By Vasfi Emre Ömürlü, Ph.D., 2005 55

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By Vasfi Emre Ömürlü, Ph.D. 28